Abstract
This paper gives the mathematical model of a new aircraft named quadrotor missile and then proposes an effective nonlinear adaptive backstepping controller which combines the backstepping control technique and adaptive control technique. The controller can be devided into an inner attitude control loop and an outer position control loop, which are both using the adaptive backstepping control strategy to guarantee its convergence of Euler angles and position tracking. The asymptotic stability of the closed-loop system can be proved by Lyapunov analysis. Numerical simulations demonstrate this control strategy is capable of guaranteeing path tracking with desired attitude angles.
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