Adaptive Backstepping Sliding Mode Control for Quadrotor UAV

Quadrotor UAV has a strong mobility and flexibility in flight been widely used military civil fields recent years. An adaptive backstepping sliding mode control (ABSMC) method is proposed to address the trajectory tracking problem of quadrotor based on actuator fault external disturbance. In method, switching gain constructed design process order suppress chattering effect effectively by differential iteration. Firstly, dynamic model with disturbance proposed, then controllers are designed ABSMC method. Finally, comparison experiments between (SMC) show that can not only for SMC but also perform perfect effect.