Adaptive Sliding Backstepping Control of Quadrotor UAV Attitude

Abstract

Abstract This paper proposes an adaptive sliding backstepping control law for quadcopter attitude control. By employing adaptive elements in the sliding mode control formulation the proposed control law avoids a priori knowledge of the upper bounds on the uncertainty. The controller we propose can be used for systems that are in strict feedback form with matched uncertainties. Numerical simulations show that this control method is capable of guaranteeing global asymptotic tracking of the desired attitude trajectory.