Nonlinear Observer and Backstepping Control of Quadrotor Unmanned Aerial Vehicle

(*) Corresponding author

Authors' affiliations

DOI's assignment:
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)


This article presents the general concept of two nonlinear observers, such as high gain, sliding mode, adapted with nonlinear Backstepping control of quadrotor. The Positions is estimated by observers and set against reaction for control. The observatory technique using for estimated the non-measurable states has fine to reduce the number of sensors embedded in the x4- flying system. Several simulation tests in Simulink / Matlab are carried and takes into account an external disturbances (wind) to demonstrate the performance of the system controller-observer.
Copyright © 2013 Praise Worthy Prize - All rights reserved.


Nonlinear Observer; High Gain; Sliding Mode; BackStepping

Full Text:



D. Elleuch, T. Damak, Adaptive Sliding Mode Observer for a Class of Systems, International Journal of Electrical and Computer Engineering, vol. 5(6): 368-374, 2010.

Derafa. L, Madani. T, and Benallegue. A, dynamic modeling and experimental identification of four rotor helicopter parameters, IEEE International Conference on Industrial Technology, Mumbai, India, pp.1834 – 1839, December2006.

V. Mistler, A. Benallegue, N. K. M'Sirdi, Exact linearization and on interacting control of 4 rotors helicopter via dynamic feedback, ROMAN, pp. 586 – 593, September 2001.

S. Bouabdallah, P. Murrieri and R. Siegwart, Design and control of an indoor microquadrotor , IEEE International conference on Robotics and Automation, New Orleans, USA, Vol.5, pp. 4393 – 4398, 2004.

I. Kanellakopoulos, systematic design of adaptive controllers for feedback linearisable Systems, IEEE . Transaction on automatic control Vol. 36(11): pp 1241-1253, July 2000.

R. Lozano, P. Castillo and A. Dzul, Stabilization of a mini rotorcraft having four rotors, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2693 – 2698, 2004.

A. Feurrel, A. S. Morse, Adaptive control of single-input, single-output linear systems, IEEE Transaction on automatic control, Vol. 23 (4), pp 557-569, July 2000.

Abdellah, A., Abdelhafid, A., Mostafa, R., Using an Utkin observer based controller for a trajectory tracking of an overhead crane system, (2013) International Review of Automatic Control (IREACO), 6 (3), pp. 316-321.

K. M. Zemalache, Tahar. M, Benhadria. M, et al, Integral backstepping controller for an autonomous helicopter, (2010) International Review of Aerospace Engineering (IREASE), 3 (5), pp 257–267.

K. M. Zemalache, L. Beji, H. Maaref, Two Inertial Models of X4-Flyers Dynamics, Motion Planning and Control, Journal of the Integrated Computer-Aided Engineering (ICAE), Vol.14, No. 2, pp. 107-119, January 2007.

P.V. kokotovic, and H.J. Sussman, A positive real condition for global stabilization of nonlinear systems, systems & control letters Vol.13, pp 125_133, juillet 2000.

Moutchou, M., Abbou, A., Mahmoudi, H., Induction machine speed and flux control, using vector-sliding mode control, with rotor resistance adaptation, (2012) International Review of Automatic Control (IREACO), 5 (6), pp. 804-814.

G. Bornard and H. Hammouri, A high gain observer for a class of uniformly observable systems. In Conference on Decision and Control CDC’91, pp.1494–1496, Broghton, Angleterre, 1991.

M. Valenti, G. P. Tournier and J. P. How, Estimation and control of a quadrotor vehicle using monocular vision and moire patterns ,AIAA Guidance, Navigation and Control Conference and Exhibit, 2006.

Cherifi, D., Miloud, Y., Tahri, A., New fuzzy luenberger observer for performance evaluation of a sensorless induction motor drive, (2013) International Review of Automatic Control (IREACO), 6 (4), pp. 381-392.

F. L. Lewis, A survey of linear singular systems, Circuits Systems Signal Process, Vol. 5, pp. 3-36, 1986.

J. Chen and H. Zhang, Robust detection of faulty actuators via unknown input observers, International Journal of Systems Science, Vol. 22, pp. 1829-1839, 1991.

G. Conte, C.H. Moog, and A.M. Perdon. Nonlinear Control System - An Algebraic Setting. Spinger-Verlag, London, 1999.

A. Benallegue, A. Mokhtari and L. Fridman, High-order sliding-mode observer for a quadrotor UAV, International journal of robust and nonlinear control, Vol.18, (4-5): pp. 427–440 2007.

T. Madani and A. Benallegue, Backstepping Control with Exact 2-Sliding Mode Estimation for a Quadrotor Unmanned Aerial Vehicle , Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA, pp.141 – 146, 2007.

M. GUISSER, H. MEDROMI, H. IFASSIOUEN, J. SAADI and N. radhy, A Coupled Nonlinear Discrete-Time Controller and Observer Designs for Underactuated Autonomous vehicles with Application to a Quadrotor Aerial Robot, IEEE Industrial Electronics, IECON-32nd Annual Conference on, pp.1- 6,2006.

J.P. Gauthier, H. Hammouri, and S. Othman, A simple observer for nonlinear systems applications to bioreactors, IEEE Transactions on Automatic Control, Vol. 37(6):875–880, 1992.


  • There are currently no refbacks.

Please send any question about this web site to
Copyright © 2005-2024 Praise Worthy Prize