Backstepping control of each channel for a quadrotor aerial robot

This paper has presented a model of vertical take-off and landing(VTOL) unmanned air vehicle. It has four rotors, so as quadrotor aerial robot. It can hover or fly at low speed indoor or unwinded outdoor. The quadrotor aerial robot is a highly nonlinear, multivariable, strongly coupled and under-actuated subsystem because it has 6-DOF but only has four inputs. Nonlinear mathematical model of quadrotor aerial robot which is based on Newton-Euler formalism is deduced in the paper, also described nonlinear control strategy for it. Backstepping of nonlinear controller design was based on constructing Lyapunov function for closed-loop system. The controller guarantees stability, tracking performance and robotness of the system. The effective control design scheme is shown through nonlinear simulations.