Position control of a quadrotor: Dynamic surface control approach

This paper deals with a quadrotor position control scheme using dynamic surface control (DSC). The proposed DSC method can overcome the complexity of an actual controller caused by the recursive differentiation of virtual controllers in the backstepping design procedure. First, the quadrotor nonlinear dynamics is derived using Newton-Euler formulation. Specially, we use the π/4 shifted coordinate for x- and y- axis of a quadrotor. Second, DSC-based position control method is presented. Using Lyapunov stability theory, the states of the quadrotor are proved as uniformly ultimately bounded (UUB). Finally, the simulation results are given to verify the effectiveness of the proposed control method.