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Flight trajectory tracking and recovery in presence of large disturbances

We present a modified trajectory tracking controller based on a novel re-parameterization of the reference trajectory with respect to an independent variable whose dynamics can be controlled. A hybrid controller is designed so that the dynamics of both the robot and the reference parameter can respond to disturbances. The proposed hybrid controller is more robust to large disturbances, and hence is less prone to cause the robot to collide with obstacles and avoids skipping large segments of the trajectory. We demonstrate our controller through simulations and real-world experiments on a quadrotor.