Dynamic Modeling with Nonlinear Inputs and Backstepping Control for a Hexarotor Micro-Aerial Vehicle

In this paper the hexarotor dynamic model with nonlinear inputs and full state back stepping technique is presented. Dead zone and saturation nonlinear inputs are considered reflected to the rotors. The goal is to obtain a faithful mathematical representation of the mechanical system for analysis and control design, not only in hover, but also in motion when take-off, land and flight for aerial navigation tasks. The model was implemented in Matlab/Simulink to optimize the design of control system. Simulations of the hexarotor model shows the performance of the control law and stabilizes with good tracking.