Disturbance Observer-Based Integral Backstepping Control for UAVs

In this paper a disturbance observer-based integral backstepping nonlinear motion control for a multirotor unmanned aerial vehicle (UAV) is proposed. The closed-loop is proven globally exponentially stable for the complete UAV dynamics and constant disturbances. Software-in-the-loop (SITL) simulation is used to evaluate the performance of the proposed control on the open-source PX4 autopilot. The simulation results demonstrate the proposed method's robustness and steady state error performance.