Robust Back-Stepping Controller on SO(3) for a Quadrotor Attitude Tracking

In this paper, a robust back-stepping controller evolved on SO(3) is developed for maneuvering attitude tracking of a quad rotor. The controller is developed on the configuration manifold SO(3), which avoids singularity and ambiguity existing in the traditional methods. In this controller, the back-stepping method is evolved on SO(3) to handle the nonlinearity and complexity of the quadrotor system. Besides, a sliding-mode method is adopted to defeat the external disturbances and uncertainties, which improves the robustness of the system. Besides, stability analyses are discussed and simulation results are provided to show the performance of the controller.

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