Backstepping Based Control of Quadrotor UAV

This paper aims to develop a control structure for quadrotor Unmanned Aerial Vehicles (UAVs) to address the problem of trajectory tracking. The proposed technique is designed to handle nonlinear, unknown, or partially known dynamics efficiently. The paper follows a two-step approach, beginning with the modeling of the quadrotor and then designing a robust control strategy using the Backstepping technique. The most advantage of this architecture is in the simplicity of the design of the controller and Lyapunov Stability Ensuring. The approach is validated through numerical simulation results and a comparative study with the Sliding Mode Control technique. The robustness and tracking performance of the control method is tested in the presence of disturbances.