Integral backstepping for attitude tracking of a quadrotor system

Abstract

This work aims to redesign an embedded control system for an autonomous quadrotor. This embedded control system is developed based on a DsPic microcontroller. A wireless communication between the ground station and the system is insured via an Xbee device and an inertial measurement unit is used for attitude measurement. The integral backstepping approach is designed and its algorithm is implemented in real time on the realized embedded control system for the attitude stabilization of the quadrotor system. The results obtained show good performance stabilization, demonstrates superior angles tracking response as well as rejection to the load disturbance.