Development of backstepping based sliding mode control for a quadrotor

摘要

This paper has proposed an elaborate development of backstepping-based sliding mode controller for quadrotor dynamics. The proposed controller is simple and effectively enhances the performance of quadrotor. The combination of backstepping with sliding mode control provides stable, robust and good tracking performance. The four rotor control expressions have been derived to manipulate all six degree of freedom. The proposed controller has been applied to a micro quadrotor for position tracking.