Backstepping-based Tracking Control for a Coaxial Rotor UAV

This paper takes a coaxial rotor Unmanned Aerial Vehicle (UAV) as the research object, the problem of controlling the position and orientation of this UAV is solved. The nonlinear mathematical model of the coaxial rotor UAV is novelty present and a hierarchical controller is adopted to solve this problem. The controller includes the attitude controller of inner loop and the position controller of outer loop, which are both adopting backstepping control technique to track the reference position. Numerical simulations present that the coaxial rotor UAV can perfectly track the predefined trajectory, which demonstrates the good performance of the designed control strategy.