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

This paper concentrates on attitude control and position control of the hex-rotor Unmanned Aerial Vehicle (UAV) to achieve fixed-point hover. First, based on the Newton-Euler equations, the equations of motion are established in the inertial coordinate system. Then according to the characteristics of the hex-rotor UAV model, adaptive backstepping mode controllers are designed to realize the attitude and position control. Using Lyapunov theory, the stability of system is proved. Finally, simulation results prove that the control system has strong robustness to both the disturbance and the parametric variation.