Quadrotor position and attitude control via backstepping approach

The purpose of this paper is to apply a nonlinear control law for an unmanned quadrotor helicopter. First, the quadrotor dynamic model is established using Newton-Euler formalism and taking into account various physical phenomena that can influence its dynamic behavior. Subsequently, Backstepping controller is designed. Its job is to generate commands to the four rotors to drive the quadrotor to track desired Cartesians positions and desired tilt angels. The designed methodology is based on the Lyapunov's theory of stability. This method was checked satisfactorily in simulation.