Nonlinear Control of a Quadrotor UAV Using Backstepping-Based Sliding Mode Technique

Abstract

This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by incorporating the dynamics of the quadrotor and accounting for non-holonomic constraints. The proposed sliding mode controller effectively addresses system nonlinearities and improves tracking of predefined trajectories. Simulation results are presented graphically to demonstrate the controller's performance.

The paper contains an error in the derivation of the backstepping-based sliding mode control law. This affects the stability analysis in Section III-B and leads to incorrect simulation results in Section IV. The conclusions are therefore invalid