Micro-Quadrotor aerial robots have enormous potential applications in the field of near-area surveillance and exploration in military and commercial applications. However, stabilizing and position control of the robot are difficult tasks because of the nonlinear dynamic behavior and model uncertainties. Backstepping is a widely used control law for under-actuated systems including quadrotor. But general backstepping control algorithm needs accurate model parameters and isn't robust to external disturbances. In this paper, an adaptive integral backstepping control algorithm is proposed to realize robust control of quadrotor. The proposed control algorithm can estimate disturbances online and therefore improve the robustness of the system. Simulation results show that the proposed algorithm performs well against model uncertainties.
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Fang et al. (2011) studied this question.