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Backstepping Control Design Applied to a Quadrotor Aircraft for Autonomous Missions

Charland-Arcand Guillaume, Ouassima Akhrif, Abbas Chamseddine, François Gagnon


This paper presents a backstepping controller for a quadrotor aircraft used as an autonomous telecommunication relay. The goal of the controller is to asymptotically track the trajectory generated by a navigation law that drives the quadrotor to the optimal position in regard to telecommunication requirements. To overcome the complex analytical derivative calculation of the virtual control, we propose to use exact second order sliding mode estimator. The proof of stability is presented and takes into account the error generated by the system’s underactuated dynamics and the virtual control derivative estimation errors. The stability and performance of the proposed controller are verified with numerical simulation.

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