Boosted Backstepping Control by Disturbance Observer for Reconfigurable Quadrotor

Abstract

The main objective of this paper is to control and ensure good trajectory tracking of a reconfigurable quadrotor exposed to external perturbations. This control law is integrated with the disturbance observer and based on the finite-time Lyapunov stability theory. First, a dynamic model of the studied system is developed. The latter takes into consideration the variation of the Center of Gravity (CoG), the inertia, and the allocation matrix. Then, the theoretical basis of backstepping control integrated with disturbance observer is presented. The observer estimates the perturbations online and compensates them in the internal loop that contains the attitude and the position backstepping controllers. Finally, simulation results are provided to illustrate the performance of this controller. Overall, the findings show that the proposed control technique outperforms in terms of accuracy and robustness.