Nonlinear Adaptive Backstepping with ESO for the Quadrotor Trajectory Tracking Control in the Multiple Disturbances

  • Jie Liu
  • Wendong GaiEmail author
  • Jing Zhang
  • Yuxia Li


In this paper, we present a nonlinear adaptive backstepping with extended state observer (ESO) trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) subject to the multiple disturbances, which include the parametric uncertainties, actuator faults and external disturbance. First, a six-degrees of freedom quadrotor UAV model with the multiple disturbances function is built. Second, the adaptive backstepping controller is designed to track the desired trajectory command aim at internal disturbance. And the adaptive backstepping controller with ESO is designed to track the desired trajectory command aim at external disturbance. Third, the stability of the system is proved by the circle criterion. Finally, under different flight scenarios, simulation results are given to demonstrate the effectiveness of the proposed method.


Adaptive backstepping extended state observer (ESO) multiple disturbances quadrotor unmanned aerial vehicle (UAV) trajectory tracking controller 


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© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.The College of Electrical Engineering and AutomationShandong University of Science and TechnologyQingdaoChina

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