This video is for the results included in the paper "Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics" (DOI: 10.1115/1.4052714), which proposes a decoupled-yaw controller for a UAV with large yaw angle maneuvers.
In this video, we compare two geometric controllers for a UAV.
1 reference: Geometric Adaptive Tracking Control of a Quadrotor UAV on SE(3) for Agile Maneuvers (DOI: 10.1115/1.4030419)
2 proposed: Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics (DOI: 10.1115/1.4052714)
In both case, UAV follows the same trajectory where the UAV moves along a straight line while rotating around its yaw axis at a constant angular rate. The UAV starts with an almost 180 degree yaw error in both scenarios.
