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Mathematical Problems in Engineering
Volume 2016, Article ID 8573235, 11 pages
Research Article

Attitude Optimal Backstepping Controller Based Quaternion for a UAV

1Preparatory School Oran, Lahn Laboratory, 31000 Oran, Algeria
2University of Sciences and Technology Oran MB, Lahn Laboratory, BP 1505, El M’naouer, 31000 Oran, Algeria
3Laboratoire d’Ingénierie des Systèmes de Versailles, UVSQ, 10-12 avenue de l’Europe, 78140, France

Received 27 July 2015; Revised 7 November 2015; Accepted 11 February 2016

Academic Editor: Qingling Zhang

Copyright © 2016 Kaddouri Djamel 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.


A hierarchical controller design based on nonlinear theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena. Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL) aerial robot prototype known as the quadrotor aircraft.