An improved backstepping based controller with integrators for the quadrotor

Towards eliminating the tracking error, this paper proposes an improved backstepping control approach for a quadrotor aircraft. First, a simplified quadrotor model is built in the view of its kinematics characteristics. With this model, the whole system is divided into two subsystems, with three input channels for each of them. Then, by introducing an integral term for each channel, an improved backstepping control strategy is investigated. And it turns out that the backstepping based controller with integral terms is equivalent to the PID controller. Subsequently, a sufficient condition is provided, based on the derivation of the backstepping control, for the parameter selecting of the PID controller to guarantee the stability of the closed system. Finally, the contrast simulations are conducted to verify the effectiveness and superiority of the improved control approach.