Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor

Abstract — The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL 1 systems. In this paper we present the results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor. A backstepping and a sliding-mode techniques. We performed various simulations in open and closed loop and implemented several experiments on the test-bench to validate the control laws. Finally, we discuss the results of each approach. These developments are part of the OS4 2 project in our lab.

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