Backstepping Sliding Mode Control of Quadrotor UAV Trajectory

Yohannes Lisanewerk Mulualem, Gang Gyoo Jin, Jaesung Kwon and Jongkap Ahn ()
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Yohannes Lisanewerk Mulualem: Department of Electrical Power and Control Engineering, Adama Science and Technology University, Kebele 14, Adama P.O. Box 1888, Ethiopia
Gang Gyoo Jin: Department of Electrical Power and Control Engineering, Adama Science and Technology University, Kebele 14, Adama P.O. Box 1888, Ethiopia
Jaesung Kwon: Department of Mechanical System Engineering, Gyeongsang National University, Tongyeong-si 53064, Republic of Korea
Jongkap Ahn: Training Ship Operation Center, Gyeongsang National University, Tongyeong-si 53064, Republic of Korea

Mathematics, 2025, vol. 13, issue 19, 1-0

Abstract: Unmanned Aerial Vehicles (UAVs), commonly known as drones, have become widely used in many fields, ranging from agriculture to military operations, due to recent advances in technology and decreases in costs. Quadrotors are particularly important UAVs, but their complex, coupled dynamics and sensitivity to outside disturbances make them challenging to control. This paper introduces a new control method for quadrotors called Backstepping Sliding Mode Control (BSMC), which combines the strengths of two established techniques: Backstepping Control (BC) and Sliding Mode Control (SMC). Its primary goal is to improve trajectory tracking while also reducing chattering, a common problem with SMC that causes rapid, high-frequency oscillations. The BSMC method achieves this by integrating the SMC switching gain directly into the BC through a process of differential iteration. Herein, a Lyapunov stability analysis confirms the system’s asymptotic stability; a genetic algorithm is used to optimize controller parameters; and the proposed control strategy is evaluated under diverse payload conditions and dynamic wind disturbances. The simulation results demonstrated its capability to handle payload variations ranging from 0.5 kg to 18 kg in normal environments, and up to 12 kg during gusty wind scenarios. Furthermore, the BSMC effectively minimized chattering and achieved a superior performance in tracking accuracy and robustness compared to the traditional SMC and BC.

Keywords: quadrotor; backstepping control; sliding mode control; backstepping sliding mode control; Lyapunov stability; genetic algorithm (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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