A self-assembled gel composition with enhanced adhesion to cartilage tissue is provided. A cationic agent co-self assembles with a generally regarded as safe (GRAS), low molecular weight (<；2,500 Da) gelator, forming homogeneous self-supporting gel that can encapsulate one or more therapeutic agents for controlled release. The composition adheres to connective tissue, e.g., cartilage, to a greater extent and a greater length of time than a self-assembled gel from gelators alone. The composition is used to specifically target connective tissue and deliver one or more therapeutic, prophylactic, or diagnostic agents for controlled release to improve dosing efficacy.
