Design of the nonlinear controller for a quadrotor trajectory tracking

In order to solve the trajectory tracking of a quadrotor called QBall2 which is produced by Quanser Company of Canada, an integral backstepping controller is designed. A nonlinear mathematical model of QBall2 in the presence of external disturbances is obtained and a MATLAB/Simulink simulation system is built to validate the nonlinear trajectory tracking controller and compare the difference of PID and integral backstepping. The simulation results illustrate the good tracking performances of the designed nonlinear trajectory tracking controller.