Backstepping control for a quadrotor unmanned aerial vehicle

This paper addresses the tracking problem of altitude and three attitude angles of a quadrotor unmanned aerial vehicle (UAV) considering external disturbance via backstepping control strategy. Firstly, the dynamics of quadrotor system is introduced. Secondly, the backstepping controller is derived based on dynamics of quadrotor. In addition, the tracking errors in altitude and attitude channels are eliminated asymptotically using the proposed control scheme. Finally, simulation and comparison are carried out to illustrate the overall performance of the proposed control algorithm.