Adaptive backstepping tracking control for quadrotor aerial robots subject to uncertain dynamics

Tsung Wei Ou, Yen Chen Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)


In this paper, a backstepping controller is presented for quadrotor system to follow a predefined trajectory without the knowledge of dynamic parameters in the control algorithms. By dividing the quadrotor systems into several subsystems, the idea of nominal control input is presented to modify the quadrotor input force and torque. Subsequently, the backstepping control technique is developed for the nominal controls with the adaptive laws to estimate unknown dynamic parameters. Both the mass and moment of inertia are coped with by using adaptive laws. Stability and tracking performance of the proposed closed-loop system are proved by using Lyapunov theorem that the tracking errors converge to the origin asymptotically. Numerical examples are presented to show the quadrotor system tracking a desired trajectory efficiently.

Original languageEnglish
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538679265
Publication statusPublished - 2019 Jul
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: 2019 Jul 102019 Jul 12

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2019 American Control Conference, ACC 2019
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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