Control System of a Quadrotor UAV with an Optimized Backstepping Controller

Abstract

Quadrotor is an inherently nonlinear, coupled and unstable system which require an efficient controller to perform accurate tracking without losing the target trajectory. This paper concerns the development of an optimal backstepping controller (OBS) for the quadrotor attitude. A mathematical modeling for the quadrotor dynamics was derived by taking into account its nonlinear dynamics. Ant colony optimization algorithm (ACO) was used to select the optimal parameters of the BS controller. However, the obsession behind the use of this optimization algorithm is the development of a reliable flight controller ensuring optimal performances. In order to highlight the accuracy of the proposed approach, we carried out numerical experiments using two trajectory scenarios.