Integral backstepping controller for quadrotor path tracking

An integral backstepping control algorithm is presented for the path tracking problem of a quadrotor in this work. The dynamical model of a quadrotor is represented based on unit quaternion representation and includes some modelled aerodynamical effects as a nonlinear part. The integral backstepping controller is designed for translational part to track the desired trajectory. Stability analysis is achieved via a suitable Lyapunov function. The external disturbance and model parameters uncertainty are considered in the simulation tests to justify the proposed controller stability. Simulation results are compared with a standard backstepping controller results.