Attitude stabilization control of a quadrotor helicopter using integral backstepping

• DOI: 10.1049/cp.2012.1044
• Publication Date: 2013-03-26T16:01:08Z
• Authors: Lining Tan; Libin Lu; Guodong Jin
• Keywords: Robustness; Integral sliding mode

Quadrotor helicopters are emerging as a popular platform for unmanned aerial vehicle (UAV) research. This work included integral action in Backstepping design attitude stabilization control of quadrotor helicopter. Firstly, complete dynamic model was built using blade element and momentum theories. Based on this new controller called `Integral Backstepping' designed by added tracking error term to the normal controller. Through various simulations real flight experiment, it is proved that quite effective indeed brought robustness against uncertainties