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Robust Attitude Control of Quadrotor Unmanned Aerial Vehicle Based on Adaptive Backstepping with Disturbance Compensation.

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Title: Robust Attitude Control of Quadrotor Unmanned Aerial Vehicle Based on Adaptive Backstepping with Disturbance Compensation.
Authors: Nie, Xiao-Yan1 niexiaoyan@stu.ustl.edu.cn, Chen, Xiao-Hong2 319993400004@ustl.edu.cn, Wang, Jie-Sheng3 wjs@ustl.edu.cn, Zhang, Wen-Long1 zwl@stu.ustl.edu.cn
Source: Engineering Letters. Jul2026, Vol. 34 Issue 7, p3025-3039. 15p.
Subjects: Backstepping control method, Robust control, Quadrotor helicopters, Feedback control systems, Nonlinear mechanics, Computer simulation
Abstract: Aiming at the problems of model uncertainty, external disturbance, and insufficient robustness of traditional control methods of quadrotor Unmanned Aerial Vehicles (UAVs) in complex flight environments, an adaptive backstepping attitude control method combining a disturbance compensation mechanism is proposed in this paper. Firstly, the nonlinear dynamic model of the four-rotor rolling channel including unknown external disturbances and parameter perturbations is established, and it is sorted into strict feedback form. Secondly, under the framework of backstepping recursive design, the disturbance online estimation law is introduced to construct an adaptive compensation term to achieve real-time approximation and active suppression of unknown disturbances. Then, based on the Lyapunov function and LaSalle invariance principle, it is proved that all signals of the closed-loop system are bounded and the attitude tracking error converges asymptotically. Finally, multi-condition simulation is carried out under the unified platform of MATLAB/Simulink, and typical scenarios such as step disturbance, sinusoidal disturbance, square wave disturbance, parameter uncertainty and noise disturbance are set and compared with PID, traditional backstepping, adaptive control and Active Disturbance Rejection Control (ADRC) methods. The results show that the proposed method performs better in overshoot, recovery time, steady-state error and anti-interference performance and can significantly improve the attitude control accuracy and robustness while ensuring the closed-loop stability. The research results provide a potential implementation scheme for highperformance attitude control of quadrotor UAVs in complex environments. [ABSTRACT FROM AUTHOR]
Copyright of Engineering Letters is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Robust Attitude Control of Quadrotor Unmanned Aerial Vehicle Based on Adaptive Backstepping with Disturbance Compensation.
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  Data: <searchLink fieldCode="AR" term="%22Nie%2C+Xiao-Yan%22">Nie, Xiao-Yan</searchLink><relatesTo>1</relatesTo><i> niexiaoyan@stu.ustl.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Chen%2C+Xiao-Hong%22">Chen, Xiao-Hong</searchLink><relatesTo>2</relatesTo><i> 319993400004@ustl.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Wang%2C+Jie-Sheng%22">Wang, Jie-Sheng</searchLink><relatesTo>3</relatesTo><i> wjs@ustl.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Zhang%2C+Wen-Long%22">Zhang, Wen-Long</searchLink><relatesTo>1</relatesTo><i> zwl@stu.ustl.edu.cn</i>
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  Data: <searchLink fieldCode="JN" term="%22Engineering+Letters%22">Engineering Letters</searchLink>. Jul2026, Vol. 34 Issue 7, p3025-3039. 15p.
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  Data: <searchLink fieldCode="DE" term="%22Backstepping+control+method%22">Backstepping control method</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22Quadrotor+helicopters%22">Quadrotor helicopters</searchLink><br /><searchLink fieldCode="DE" term="%22Feedback+control+systems%22">Feedback control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Nonlinear+mechanics%22">Nonlinear mechanics</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+simulation%22">Computer simulation</searchLink>
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  Label: Abstract
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  Data: Aiming at the problems of model uncertainty, external disturbance, and insufficient robustness of traditional control methods of quadrotor Unmanned Aerial Vehicles (UAVs) in complex flight environments, an adaptive backstepping attitude control method combining a disturbance compensation mechanism is proposed in this paper. Firstly, the nonlinear dynamic model of the four-rotor rolling channel including unknown external disturbances and parameter perturbations is established, and it is sorted into strict feedback form. Secondly, under the framework of backstepping recursive design, the disturbance online estimation law is introduced to construct an adaptive compensation term to achieve real-time approximation and active suppression of unknown disturbances. Then, based on the Lyapunov function and LaSalle invariance principle, it is proved that all signals of the closed-loop system are bounded and the attitude tracking error converges asymptotically. Finally, multi-condition simulation is carried out under the unified platform of MATLAB/Simulink, and typical scenarios such as step disturbance, sinusoidal disturbance, square wave disturbance, parameter uncertainty and noise disturbance are set and compared with PID, traditional backstepping, adaptive control and Active Disturbance Rejection Control (ADRC) methods. The results show that the proposed method performs better in overshoot, recovery time, steady-state error and anti-interference performance and can significantly improve the attitude control accuracy and robustness while ensuring the closed-loop stability. The research results provide a potential implementation scheme for highperformance attitude control of quadrotor UAVs in complex environments. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Engineering Letters is the property of International Association of Engineers (IAENG) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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      – Code: eng
        Text: English
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      Pagination:
        PageCount: 15
        StartPage: 3025
    Subjects:
      – SubjectFull: Backstepping control method
        Type: general
      – SubjectFull: Robust control
        Type: general
      – SubjectFull: Quadrotor helicopters
        Type: general
      – SubjectFull: Feedback control systems
        Type: general
      – SubjectFull: Nonlinear mechanics
        Type: general
      – SubjectFull: Computer simulation
        Type: general
    Titles:
      – TitleFull: Robust Attitude Control of Quadrotor Unmanned Aerial Vehicle Based on Adaptive Backstepping with Disturbance Compensation.
        Type: main
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            NameFull: Nie, Xiao-Yan
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            NameFull: Chen, Xiao-Hong
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            NameFull: Wang, Jie-Sheng
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            NameFull: Zhang, Wen-Long
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            – D: 01
              M: 07
              Text: Jul2026
              Type: published
              Y: 2026
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            – TitleFull: Engineering Letters
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