Path Tracking of Quadrotor Using Backstepping Controller in Presence of Uncertainties and Packet Dropouts

Abstract

This paper proposes a robust backstepping control for a quadrotor in the presence of uncertainties and packet dropouts. The proposed work uses the concept of super twisting and twisting reaching law for designing the novel backstepping control. Using backstepping control, virtual control input can be developed, which rejects the unmatched uncertainty. The real control input counteracts the matched uncertainty via the input channel. The quadrotor is prone to both matched and unmatched uncertainty for real-time applications; hence the proposed novel controller offers more robustness towards un-certainty. For reducing the computation effort of the controller and communication burden, event-triggering conditions are derived. Furthermore, the allowable number of packet dropouts between two triggering instants are derived. Simulations are conducted to validate the proposed technique.