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Mathematical Problems in Engineering
Volume 2014, Article ID 749803, 9 pages
Research Article

Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

1College of Engineering, Bohai University, Jinzhou 121000, China
2Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China
3Department of Engineering, Faculty of Engineering and Science, The University of Agder, N-4898 Grimstad, Norway

Received 29 December 2013; Accepted 13 January 2014; Published 19 February 2014

Academic Editor: Xudong Zhao

Copyright © 2014 Xing Huo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV) known as the quadrotor are investigated. The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude. The control design is accomplished by using backstepping control technique. The proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque. The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study.