Back-Stepping Integral Sliding Mode Control with Iterative Learning Control Algorithm for Quadrotor UAV Transporting Cable-Suspended Payload

In order to cope with external disturbances such as cable-load and wind power during a flight motion, a robust controller based on combination of a nonlinear strategy and iterative algorithm is considered in this paper for full nonlinear dynamic of Quadrotor UAV. The main contribution of this article is combination of back-stepping and sliding mode control with a repetitive algorithm to compensate the error terms. The stability of the mentioned strategy is analyzed by Lyapunov function. The simulations show that despite the cable-suspended payload the mentioned methodology can reject the external disturbance and force the error terms toward zero during a flight motion.