Abstract

This paper presents an adaptive integral backstepping control strategy to solve the problem of accurate trajectory tracking for a quadrotor Unmanned Aerial Vehicle (UAV) in the presence of model parameters uncertainties and external disturbances. In this paper, the mathematical model of the quadrotor considering the characteristics of the actuator is established and the virtual control is mapped to the control of the motor; then a nonlinear trajectory tracking controller based on integral backstepping method is designed. The stability analysis of the designed adaptive integral backstepping controller is achieved via a suitable Lyapunov function. The simulation results verify the validity and accuracy of designed trajectory tracking controller.

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