Quadrotor control applying backstepping algorithm

Abstract

The paper presents the application of a backstepping controller for quadrotor tracking. The backstepping controller is specially designed to accommodate the nonlinearity of the system. The results show that the controller has achieved the ability to guide the quadrotor to the target position with small error and maintain stability when tracking the predetermined trajectory. Moreover, the controller also shows good performance in tracking the trajectory under the influence of disturbances.