Trajectory control for a Quad-copter using Sliding Mode Control based on Backstepping Approach

In this paper, a robust backstepping approach based sliding mode control is designed for tracking desired trajectories by a quad-copter. A quad-copter is a highly non-linear system. The proposed control strategy first utilizes the backstepping approach for the synthesis of Lyapunov functions. Secondly, a sliding mode controller is developed to ensure Lyapunov stability and tracking of desired trajectories. The effectiveness of the proposed controller is validated through numerical simulation results.