Adaptive Backstepping-Based Trajectory Tracking Control for Quadrotor UAV with Uncertainty Disturbance

An adaptive backstepping based trajectory tracking control is proposed to improve the anti-interference ability and robustness and guarantee accurate trajectory tracking. Firstly, a double-loop control system is proposed to handle the weak coupling and under-actuated characteristics; and an adaptive backstepping is designed to improve the position control loop trajectory tracking ability; besides, an adaptive integral backstepping control is proposed to guarantee the good robustness and stability; lastly, the simulation result is given to verify the feasibility and effectiveness for trajectory tracking of quadrotor UAV with the uncertainty disturbance.