Nonlinear Control of a Quadrotor UAV Using Backstepping-Based Sliding Mode Technique

TL;DR

This paper introduces a backstepping-based sliding mode controller for quadrotor UAVs, effectively handling nonlinear dynamics and improving trajectory tracking, validated through simulation results.

Contribution

It develops a novel control scheme combining backstepping and sliding mode techniques tailored for quadrotor nonlinear dynamics.

Findings

Enhanced trajectory tracking performance

Effective handling of nonlinearities

Validated through simulation results

Abstract

This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by incorporating the dynamics of the quadrotor and accounting for non-holonomic constraints. The proposed sliding mode controller effectively addresses system nonlinearities and improves tracking of predefined trajectories. Simulation results are presented graphically to demonstrate the controller's performance.