Rotary wing UAV position control using backstepping

This paper presents a novel position control method for rotary wing UAVs using the backstepping approach. The algorithm, motivated by backstepping control for general rigid body dynamics, is extended for underactuated UAV including the flybar and flapping dynamics when stability derivatives are not available. Further work is needed to include servo dynamics and to make the algorithm robust to model uncertainty to make it suitable for practical implementation.