Integral Backstepping for Attitude Tracking of a Quadrotor System

摘要

Unmanned Aerial Vehicles (UAVs) have been designed in the military field since more than one half century. The main objective was to replace human pilot in a painful tasks and when the environment became hostile where the security of pilots is not ensured. The firsts UAV's date from the Second World War; they have the dimensions of planes and fly at a high altitudes [1]. Nowadays, researches in this field know a large progress with the advance development of electronic and digital systems. This progress has given birth to low cost very small and accurate electronic components, a powerful calculators, and sensors. All these progress, allowed the development of small autonomous UAVs, able to perform missions in constrained area with more effectiveness and reliability.