Nonlinear Control of a Quadrotor UAV Using Backstepping-Based Sliding Mode Technique
Abstract
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by incorporating the dynamics of the quadrotor and accounting for non-holonomic constraints. The proposed sliding mode controller effectively addresses system nonlinearities and improves tracking of predefined trajectories. Simulation results are presented graphically to demonstrate the controller's performance.
Cite
@article{arxiv.2506.14195,
title = {Nonlinear Control of a Quadrotor UAV Using Backstepping-Based Sliding Mode Technique},
author = {Thien Nhan Vo},
journal= {arXiv preprint arXiv:2506.14195},
year = {2025}
}
Comments
The paper contains an error in the derivation of the backstepping-based sliding mode control law. This affects the stability analysis in Section III-B and leads to incorrect simulation results in Section IV. The conclusions are therefore invalid