Research on adaptive backstepping sliding mode control method for a hex-rotor Unmanned Aerial Vehicle

This paper concentrates on attitude control and spot hover about the hex-rotor Unmanned Aerial Vehicle (UAV). First of all, according to the Newton - Euler equation, set up the equations of motion in inertial frame. Then based on the characteristics of the hex-rotor UAV model, adaptive backstepping sliding mode controllers are designed to realize the attitude and position control. Finally, the control strategy is verified by the simulation. It's proved that the control system has strong robustness to both the disturbance and the parametric variation.