Nonlinear Backstepping Trajectory Tracking Control for a Quadcopter with Experimental Validation

This paper addresses the nonlinear control problem for a quadcopter. The proposed control strategy ensures effective trajectory tracking with ultimately bounded errors. A nonlinear controller employing a backstepping framework is designed to stabilize the quadcopter with damping effects. Simulation and experimental results demonstrate the controller's capability to maintain stability and accurately follow reference trajectory, validating the effectiveness of the proposed method.