Modeling and Trajectory Tracking Control of a Quad-rotor UAV

The trajectory tracking control of a quad-rotor UAV is discussed in this paper. Firstly, establish the system model by the Eula-Lagrange method. Decompound the system as the position and attitude subsystem, respectively. The backstepping approach based calculation method is proposed to obtain the expected attitude which stabilizes the position subsystem exponentially, farther more, design the controller to stabilize the attitude subsystem exponentially. The simulation results prove that this approach is able to track arbitrary trajectories of a Quad-rotor UAV.