Adaptive backstepping controller design for quadrotor aircraft with unknown disturbance

For quadrotor aircraft, atmospheric turbulence, wind shear, and model uncertainty are important factors which affect the quality of flight, or even lead to a failure of flight. In this paper, we consider the control problem of quadrotor aircraft with linear or nonlinear disturbances including model uncertainty. By employing backstepping technique, adaptive backstepping controllers are proposed which ensure the stability and reliability of the closed-loop system. Simulation results illustrate the effectiveness of proposed scheme.