Nonlinear Control of a Quadrotor UAV Using Backstepping-Based Sliding Mode Technique

Abstract

This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by incorporating the dynamics of the quadrotor and accounting for non-holonomic constraints. The proposed sliding mode controller effectively addresses system nonlinearities and improves tracking of predefined trajectories. Simulation results are presented graphically to demonstrate the controller's performance.