Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

<table>The angular velocity <svg height="8.1499996" id="M197" style="vertical-align:-0.1365pt" version="1.1" viewbox="0 0 11.8 8.1499996" width="11.8" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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t37.5 65.5q-10 44 -10 84q0 62 27 115q29 53 80 53q52 0 52 -71q0 -67 -74 -179q-2 -14 -2 -18q0 -34 19 -54t47 -20q33 0 62 44q29 43 45 99.5t16 103.5q0 146 -116 146z" id="x1D74E"></path></g>
</svg> in the presence of external disturbances.</table>

Mathematical Problems in Engineering

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Figure 8

Figure 8: Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach 