Backstepping sliding mode control applied to a miniature quadrotor flying robot

This paper presents a new controller based on backstepping and sliding mode techniques for miniature quadrotor helicopter. The system is formed by three interconnected subsystems. The first one which represents the under-actuated subsystem, gives the dynamic relation of the horizontal positions with the tilts angles. The second one, fully-actuated subsystem, gives the dynamics of the vertical position and the yaw angle. The last subsystem gives the dynamics of the propeller forces. The design methodology of the controller is based on the Lyapunov stability. To show the effectiveness of the proposed trajectory tracking control, simulation results are performed on the quadrotor model. The application of the proposed controller to a real miniature helicopter is also presented, some results are included to demonstrate the good performance of the proposed controller.