MODELLING AND STABILIZING CONTROL LAWS DESIGN BASED ON BACKSTEPPING FOR AN UAV TYPE-QUADROTOR

In this paper; we are interested principally in dynamic modelling of the four rotor mini aircraft named as a quadrotor while taking into account the high-order nonholonomic constraints as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. We present also the development and the synthesis of a recursive control algorithm based on backstepping technique ensuring Lyapunov stability and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.