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

Thien Nhan Vo

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arXiv · 2506.14195

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

Thien Nhan Vo

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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.

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Thien Nhan Vo. 2025-06-17. Nonlinear Control of a Quadrotor UAV Using Backstepping-Based Sliding Mode Technique. https://arxiv.org/abs/2506.14195

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