Quadcopter Smooth-Saturated Robust Backstepping Control

In this paper, a control strategy to overcome the perturbation problem in quadcopters, primarily in simultaneous flight, using a smoothly saturated error correction, is presented. The quadcopter dynamic model is reduced through feedback linearization. Then is designed an integral-backstepping-like controller, where the error correction actions are limited using a smooth function. Numeric simulation results are carried out to evaluate the proposed control law, showing an adequate behavior under a bounded nonvanishing perturbation.