  Recent quadrotors have transcended conventional designs, emphasizing more on
foldable and reconfigurable bodies. The state of the art still focuses on the
mechanical feasibility of such designs with limited discussions on the tracking
performance of the vehicle during configuration switching. In this article, we
first present a common framework to analyse the attitude errors of a folding
quadrotor via the theory of switched systems. We then employ this framework to
investigate the attitude tracking performance for two case scenarios - one with
a conventional geometric controller for precisely known system dynamics; and
second, with our proposed morphology-aware adaptive controller that accounts
for any modeling uncertainties and disturbances. Finally, we cater to the
desired switching requirements from our stability analysis by exploiting the
trajectory planner to obtain superior tracking performance while switching.
Simulation results are presented that validate the proposed control and
planning framework for a foldable quadrotor's flight through a passageway.
