Robust Backstepping Control of Position and Attitude for a Bi-copter Drone

Position and attitude control is a cutting-edge technology issue in the field of multi-rotor drone control research. This paper presents a robust control design for a Bi-copter whose dynamic system can tilt. The origin of motion and the design of the attitude and position stabilizing controller is reviewed and the dynamics model of a Bi-copter drone is extracted. Then, the prototype is designed and constructed to achieve the applicable physical parameters. To implement and evaluate the designed controller, a typical flight profile is simulated which uses a robust non-linear backstepping control. The controller performance is assessed both in terms of stability and tracking for a circle-shaped path. The results illustrate the remarkable accuracy and performance of the designed controller to fly a Bi-copter on a predetermined trajectory.