Modeling and maneuvering control for tricopter based on the back-stepping method

In this paper, we focus on the tricopter (Tri-Rotor UAV), which is a newer type UAV rather than Quad-rotor. Firstly, analyzing of the mechanical structure and three possible rotor configurations of the Tri-rotor are made. Then we choose a type of the three possible rotor configurations which the control performance is the best. Secondly, numerical simulations for nonlinear system of the Tri-rotor UAV should be conducted through the force and kinematic analysis. In order to follow the trend of high-precision and maneuvering flight of the multi-rotor, It used back-stepping control strategy to design the UAV flight attitude controller and got a good effect of realizing maneuvering flight of the tri-rotor.