Backstepping based nested multi-loop control laws for a quadrotor

Quadrotors are suitable testbeds for several point to point hover based surveillance and observation tasks. As such, the hover mode is a very important mode of operation for a quadrotor platform. This paper describes the design of a hover mode controller using a backstepping based multi-loop design for a linearized quadrotor dynamics. This controller is then tested using both the linear and a full nonlinear simulation model of the quadrotor.