Adaptive Backstepping Control of Quadrotor Unmanned Aerial Vehicles

Abstract: Unmanned Aerial Vehicles (UAVs), also called unmanned aircraft systems, have recently reached unprecedented levels of growth in diverse military and civilian application domains. Quadrotor is basically an underactuated UAV. So control of a quadrotor UAV is difficult owing to the fact that it's a MIMO underactuated system subject to tight coupling and due to the presence of parameter uncertainties. In this work a sliding surface incorporated adaptive backstepping approach is proposed to control and stabilize the quadrotor. The validity of proposed control scheme is demonstrated by simulations using MATLAB simulink with different initial conditions. Simulation results validate the fact that the proposed controller gives better regulation. Keywords: Quadrotor Unmanned Aerial Vehicle; Dynamics; Lyapunov Method; Sliding Surface based Adaptive Backstepping Contol.