Attitude and Altitude Regulation of a

Four-Rotor Drone Using Backstepping

Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad

Abstract

Drones or UAVs are designed with the ability to fly in the air without a pilot. Their movements are mainly controlled, in
most cases. However, some advanced models are controlled from computers. There are so many varieties of drones that
you can easily find across the world and all these models work for different applications, so we cannot define any criteria
for their classification. Depending on the needs or applications, they can have varying sizes and designs.
Drones are unmanned flying devices on board, remotely controlled by qualified professional pilots. They offer a unique
aerial perspective and access to hard-to-reach places. Can be used to perform difficult, dangerous or expensive tasks more
quickly, efficiently and safely.
The advantages of aerial photography, photographs or videos by drone are numerous and varied, allowing companies and
individuals to have aerial images produced quickly and economically. Cameras on board drones offer very high image
quality, making them a powerful tool that can easily replace traditional methods such as the use of planes or helicopters.
This paper deals with the altitude and altitude regulation of a four-rotor UAV. The technique used is the backstepping
which allows the position and altitude to be regulated to predefined references. Simulation results demonstrate the
robustness of the used method.

Keywords: Nonlinear system, Linearization, Robot, Quadrotor, UAV, Lyapunov stability,

1. INRODUCTION
Recently, various researches on Unnamed Aerial Vehicles (UAVs), especially
quadrotor, have attracted increasing attention. This type of UAV has many special
advantages such as simple structure, vertical taking off and landing (VTOL), rapid
manoeuvring and precise hovering and low altitude flight. The aerial drones have been
widely used in different applications for both military and civilian domains, such as forest
fires monitoring, aerial photography, precision agriculture and more recently package
delivery and aerial mapping, so it has attracted much attention from military and civil
applications. Quadrotor UAV, is a typical under actuated system which has six degrees of
freedom that means three position x, y and z and three Euler angles or attitude, Roll, Pitch
and Yaw, but only four independent control inputs. Although this under actuation
characteristic can effectively reduce the manufacturing difficulty of the system, but at the
same time, it makes the design for an effective controller for position and attitude trajectory
tracking control more difficult. In the past few years, researchers have paid attention to
control and have proposed different kinds of control methods like linear and nonlinear
control schemes.

Dob Asma* (corresponding author, e-mail: dob.asma21@[Link]),

Ghedjati Keltoum (e-mail: ghedjat_keltoum@[Link]) and Abdelaziz Mourad (e-mail: abde_m@[Link])

are with Automatic Laboratory, Faculty of Technology, University of Sétif, UN1901, Setif, Algeria
2 Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad

Proportion Integration Differentiation (PID) attitude control and Linear Quadratic Regulator
(LQR) attitude control. Backstepping and conventional sliding mode control. Usually, some
parameters, such as the inertial moments and aerodynamic coefficients in the dynamics,
cannot be measured or obtained exactly. Thus, various nonlinear adaptive control methods
have been developed to overcome these parametric uncertainties. The contribution of this
paper concerns the position x, y, z and the Yaw angle tracking based on the feedback
linearization for the nonlinear strong coupled model of a quadrotor UAV.
In the past, many studies has been investigated to control the quadrotor that we have
cites some ones in the bellow. The authors in (1) give an overview of the model reference
adaptive control. These methods can be applied to poorly known or poorly identified
systems. In (2), a simple adaptive synergetic controller is proposed for linear systems where
the matrix A, B and C are state dependent. In order to overcome the exact knowledge of the
system parameter, a simple adaptive like control is developed. The authors in 3 studied the
effect of the unmodelled dynamics in the high frequency on the system stability, they
analyzed five type of mechanism instability. In (4), Barkana, introduces the concept of
parallel feedforward, which enlarge the set of systems that can be controlled by the simple
adaptive controller and in (5), he expands the conditions needed to satisfy the desired strict
positive-realness conditions, which is a prerequisite for the stability of the adaptive
controlled system. In (6), Ghedjati, expands the concept of simple adaptive control to delay
systems, where the stability of the whole system is studied using the krasovsky theorem. In
(7), the authors apply the Adaptive Fuzzy Synergetic Controller for a DC-DC Buck
Converter where two robust control techniques have been used and the stability is guaranteed
using the Lyapunov theory. Nechadi in (8), analyze an adaptive fuzzy of type-2 associated
with synergetic control for Multi-Machine Power System, where the equilibrium point, from
any initial state is guaranteed in finite time. The simulation is carried out on a multi-machine
power system with three load conditions where the results of the multi-machine power
system are studied. The simulation results testifies of the robustness of the developed
method. In (9), new non-integer indirect adaptive control is analysed for a class of non-
integer order systems. In (10), a simple adaptive control with a reconfiguration scheme is
developed for a quadrotor helicopter, which can be applied in the case of a change of
parameters or a failure of one of the actuators. In (11), the authors
 Attitude and Altitude Regulation of a Four-Rotor Drone Using Backstepping 3

developed a simple adaptive control for quadrotor angular motion where the unmodelled
plant dynamics is compensated using a parallel feedforward controller. In (12), a passive-
based simple adaptive control for quadrotor helicopter in the presence of actuator dynamics
is developed for the attitude and altitude control. The closed-loop stability is guaranteed
provided that the system is Almost Strictly Positive Real (ASPR) and in order for the
quadrotor to be an ASPR, a Parallel Feedforward Compensator (PFC) is added.
The thesis of Bouabdallah (13) gives an overview of the quadrotor and it’s dynamics.
He gives a method to identify the quadrotor’s parameters and a linear and nonlinear control
techniques are used to design and simulate various techniques in order to control the altitude
and the attitude of the quadrotor.
The outline of this paper is listed as follows: In Section 2, the translational and the
rotational dynamic is investigated based on the Newton law. The design of the feedback
linearization is given in Section 3. Section 4 presents the numerical simulation results.
Finally, the conclusion can be found in Section 5.

2. TRANSLATIONAL AND ROTATIONAL DYNAMICS OF THE QUADROTOR

Let’s define,
x, y, z : position, z is also called the altitude

  [ x, y, z]T : vector of absolute position

q  [ , , ]T : vector of Roll, Pitch and Yaw angle also called Euler angles or attitude which
are the rotation angles around x-axis, y-axis, and z-axis, respectively

F4 F1
ZE
Ω4 Ω1

ZB

F3
F2
Ω3 YB YE
XB Ω2

XE

Earth Frame
Body Frame

Figure 1: Description of the UAV

4 Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad

T
   
  1  2  3       : Vector of angular velocity
T

 
Cx, Sx : stands for Cos( x), Sin( x)
I x , I y , I z : Inertial moments

I x 0 0
I   0 Iy 0 
: Inertia matrix
 0 0 I z 

k dx , k dy , k dz : translational drag or aerodynamic coefficients

k dmx , k dmy , k dmz : aerodynamic friction coefficients

g : accelerate of gravity

J r : the rotor inertia

m : mass of the
l : the distance between the center of mass and the rotation axe of propeller
i : the velocity of the motor i
r  1  2  3  4
K l : the lift constant or the thrust factor

Kd  cKl : the drag coefficient of rotation

Fi : the lift force generated by the rotor i ; Fi  Kli2

M i : the moment developed about z axis ; M i  Kdi2

c :drag factor
M i  cFi  cKli2  K d i2
B
Fprop :propeller force (thrust force) in the body frame
E
Fprop :propeller force in the earth frame

FBE :matrice transformation from body to earth frame

E
Faero :aerodynamic force or drag force
E
Fgrav :gravitaional force
Attitude and Altitude Regulation of a Four-Rotor Drone Using Backstepping 5

B
Fgyro :gyroscopic torque
B
Tprop :propeller torque (thrust torque) in the body frame
B
Taero : aerodynamic torque or drag torque
B
Fgyro :gyroscopic torque

u1 :total thrust force

u2 , u 3 , u4 :Rolling, Pitchnig and Yawing torques
^v :cross product of two vectors  and v
S ( ) : skew matrix

 0  3  2  v1   3 v2   2 v3 
^v  S ( ).v   3 0  1  v2   3 v1  1v3 
  2 1 0  v3    2 v1  1v2 

2.1. TRANSLATIONAL DYNAMICS OF THE QUADROTOR

The translational dynamic of the quadrotor is given by :


m   FextE  Fprop
E
 Faero
E
 Fgrav
E
(1)

Where, B and E stands for the body and earth frame.

0  0  0 
     
B
Fprop  0   0   0 
 4   4 
i 1 Fi  i 1 K l i  u1 
2

The rotation matrix that transforms a vector from body frame to earth frame is given by
CC CSS  SC CSC  SS 
R(q)   SC SSS  CC SSC  CS 
  S CS CC 
6 Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad

with
 CC SC  S 

R (q)  R (q)  CSS  SC
1 T
SSS  CC CS 
CSC  SS SSC  CS CC 

So,
0  0  CC CSS  SC CSC  SS  0 
E
Fprop  R(q) Fprop
B    
 R(q) 0   R(q) 0    SC SSS  CC SSC  CS  0 
u1  u1    S CS CC  u1 

Then
(C.C .S  S.S )u1 
 
F E
prop  (C.S .S  C .S )u1 
(C .C )u1 
 

The aerodynamic and gravitational forces are given by

 
k dx x  0 
  E
E
Faero  k dy y ; Fgrav  0 
  mg 
k dz z 
 
So, the translational dynamics is given by:
    

m x
  (C.C .S  S.S )u1    k x  0
dx

      
 
m y   (C.S .S  C .S )u1    kdy y   0  (2)
   (C .C )u    
m z     1   k z   mg

   dz 
 Attitude and Altitude Regulation of a Four-Rotor Drone Using Backstepping 7

2.2. ROTATIONAL DYNAMICS OF THE QUADROTOR

The rotational dynamics of the quadrotor is given by:


I  ^I  TextB  Tprop
B
 Taero
B
 Tgyro
B
(3)

Where
        
 I  I 
I x 0 0  1   x 1   x 
         
I    0 Iy 0  2    I y 2    I y  
 0 0 I z          
3   I z 3   I z  
     

So
I x 0 0  1 
^I  S () I  S ()  0 Iy 0   2 
 0 0 I z  3 

 I x 1   0  3  2   I x 1   I y 32  I z 32  ( I z  I y )23 

       
 S ()  I y  2     3 0  1   I y  2    I x 31  I z 31   ( I x  I z )13 
 I     2
 z 3 1 0   I z  3   I x 21  I y 12  ( I y  I x )12 


 
 

 ( I z  I y ) 
   
 ( I x  I z )   
   
( I y  I x )   
 
The propeller torue is given by :

l ( F4  F2 )  lK l (4  2 )  u2 

2 2

   
B
Tprop  l ( F3  F1 )   lK ( 2   2 )
  l 3 1   u3 
 M1  M 2  M 3  M 4   K d (12  22  32  42 ) u4 
 
8 Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad

And the aerodynamic torque is given by :

 

  k dmx  
  
Taero   kdmy  
B

  
 kdmz  
 

The gyroscopique torque is given by :

B
Tgyro  i 1 ^J rWi ;
4

Wi  0 0 (1) i 1 i 
T

So
0  0  0 
     
 i 1 ^J r 0
4
  ^J r 0   ^J r 0 
B
T gyro
(1)i 1  1  2  3  4  r 
 i

 

 J r  r
0   0  3 2  0   
 2 r r 
J  
    
 S ().J r 0    3 0  1  0    1 J rr    J r  r 
r   2 1 0   J rr  0  0 
 
 

So, using (3), the rotational dynamics is given by:

   ( I  I )  
 
 
  

 I       k     J r  r

 2
x z y dmx
u
      
       
 I y    ( I x  I z )   u3    kdmy     J r  r 
       u     0 
 I z   ( I y  I x )    4   kdmz   
       

That means :

   ( I  I )    J r    k   u 
   
I 
 x   y z r dmx 2

        
 I y    ( I z  I x )    J r   r  k dmy   u3 
       

 I z   ( I x  I y )    k dmz   u 4 
   
 Attitude and Altitude Regulation of a Four-Rotor Drone Using Backstepping 9

2.3. TOTAL DYNAMICS OF THE QUADROTOR

Using 2.1 and 2.2, the total dynamics of the quadrotor is given by :
  
 I x     I  I   u 2  
 
r 
 

    y z      k dmx   J r 
u
I y        3     
      I z  I x    u    k dmy   J 
r r 
   
4
I z      
      I x  I y 
 

   kdx x    kdmz   (4)
m x       
   (C.C .S  S.S )u1   kdy y  0


m y  (C.S .S  C .S )u1   m  0 
     
  
   (C .C )u1   kdz z   mg 
m z 

Let’s take
   
 x1   ; x2   ; x3   ; x4   ; x5   ; x6  
   
(5)
 x7  x; x8  x; x9  y; x10  y; x11  z; x12  z

and
u x  C .C .S  S .S
 (6)
u y  C .S .S  C .S
Using (6), the Roll and Pitch angles are given by :

  asinu x S  u y C 

  u x C  u y S  (7)
  asin  
  C 
If one take

 Iy  Iz   I  Ix   I  Iy  k k k
a1   ; a 4   z ; a7   x
 I  ; a2   dmx ; a5   dmy ; a8   dmz
 I 
 Ix   y   z  Ix Iy Iz

Jr J k k k 1 1 1
a3   ; a6  r ; a9   dx ; a10   dy ; a11   dz ; b1  ; b2  ; b3 
Ix Iy m m m Ix Iy Iz
10 Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad

So, the dynamics is given by :

 x1  x ; x 2  a x x  b u  a x  a x  
 

 2 1 4 6 1 2 2 2 3 4 r

 x 3  x ; x 4  a x x  b u a x  a x  


 4 4 2 6 2 3 5 4 6 2 r

 x 5  x ; x 6  a x x  b u a x


 6 7 2 4 3 4 8 6

 
1 
 x 7  x8 ; x 8  u x m u1  a9 x8  (8)
 
 x 9  x ; x 10  u 1 u  a x 
 10 y
m
1 10 10

 
 x11  x ; x12  u 1 u  a x  g


 12 z
m
1 11 12

Where

 Iy  Iz   I  Ix   I  Iy 
a1   ; a 4   z ; a7   x
 I 
 I 
 Ix   y   z 

kdmx k k
a2   ; a5   dmy ; a8   dmz
Ix Iy Iz

Jr J k k dy
a3   ; a6  r ; a9   dx ; ; a10  
Ix Iy m m

k dz 1 1 1
a11   ; b1  ; b2  ; b3 
m Ix Iy Iz

3. REGULATION OF THE POSITION AND THE YAW ANGLE

Lets’ regulate the position x , y , the altitude z and the Yaw angle  to their references
x ref , y ref , z ref and  ref . Lets’ just take the x position, so, the error position and it’s derivative

are given by :
e x  x  x ref  x7  xref
    (9)
e x  x 7  x ref  x8  x ref
The equation
 
e x  c11 e x  c12 e x  0 (10)
 Attitude and Altitude Regulation of a Four-Rotor Drone Using Backstepping 11

x 
y 
 
u1  u x   ref  u 2  z 
X  
u  u    u   
 4  y ref   3  
 
 zref  correc correc correc correc
 
  tion tion
 ref 
tion tion

 xref 
 
 yref 
X ref   
z
 ref 
 ref 

Figure 2 : General structure of the correction

with the polynomial s 2  c11s  c12 chosen to be Hurwirz, guarantees that the error e x goes
to zero as t goes to infinity. From the relation (10), one have
  
x  x ref  c11 e x  c12e x  0

  

 x  xref  c11 ex  c12ex (11)

Using (5), one have
  

x8  xref  c11 ex  c12ex

Using (8), (11), one have
1  

ux u1  a9 x8  x ref  c1 1 e x  c1 2ex
m
That means
 
u x u1  m( x ref  c11 e x  c12e x  a9 x8 ) (12)
12 Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad

Repeating the same procedure for the variable y, z and the Yaw angle  one found

  
u
 x 1u  m ( x ref  c11 x  c12 e x  a 9 x8 )
e
   
 y 1
u u  m ( y ref  c 21 y  c 22 e y  a10 x10 )
e
  
(13)
u z u1  m( z ref  c31 e z  c32 e z  a11 x12  g )

b u    c e   c e  a x x  a x
 3 4 ref 41 42  7 2 4 8 6

From the third and fourth equation in (13), the input u1 and u4 are given by :
  
m ( z ref  c31 e z  c32ez  a11x12  g )
u1 
 uz
   (14)
  ref  c41 e  c42e  a7 x2 x4  a8 x6
u 4 
 b3

Once the input u1 is given and using (13), the virtual input u x and u y are given by :

  
m ( x ref  c11 e x  c12ex  a9 x8 )
u x 
 u1
   (15)
 m( y ref  c21 e y  c22e y  a10 x10 )
u y 
 u1

Using the virtual input u x and u y and the relation (7), the reference Roll and Pitch angles can

be computed by :
 ref  asin u x S ref u y C ref 

  u x C ref  u y S ref 
  asin  
ref  C ref  (16)
  

Once one have the reference Roll ref and Pitch angle  ref , one can compute the other inputs

u2 and u3 .
 Attitude and Altitude Regulation of a Four-Rotor Drone Using Backstepping 13

Let’s take
e    ref

and using the equation

 
e   c51 e  c52e  0
With the Hurwitz polynomial
s 2  c51s  c52 ,
so
  
   ref  c51 e  c52e  0
  
    ref  c51 e  c52e (17)
Using (5), one have
  
x 2   ref  c51 e  c52 e

Using (8) and (17), one have

 
a1 x4 x6  b1u 2 a2 x2  a3 x4r   ref  c51 e  c52e

And then, the control input u2 is given by:

 
 ref  c51 e  c52e  a1 x4 x6  a2 x2  a3 x4r
u2 (18)
b1

The control u 3 is computed in the same manner and given by :

 
 ref  c61 e  c62e  a4 x2 x6  a5 x4  a6 x2r
u3 (19)
b2
And the numerical values of theses parameters are given in appendix .
the block diagram of the regulation is given in figure 2.
14 Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad

4. SIMULATION
In the simulation, it is required that the absolute position track their references and in the
same time the Yaw angle tracks it’s reference. That means one choose
xref  2sin (t / 5), yref  2sin (t / 5   / 2)
The reference altitude is given by
t if t  25
z ref  
25 if t  25
The Yaw reference angle is given by  / 4 .
In order to have sinusoidal damping response for the altitude and the Yaw angle, the
polynomial s 2  ci1s  ci 2 is chosen to be Hurwitz, so one take ci1  ci 2  1 .
In the figure 3 and 4, the two responses follow their references model in about 2,5 seconds.
Figure 5 shows that after 2.6 seconds, the altitude z follows in a linear manner it’s reference.
After 25 seconds, the altitude is kept at 25 that means that the quadrotor is in hover situation.
Figure 6 shows the Yaw angle that follows it’s constant reference in about 10 seconds in a
damped oscillatory manner because the poles of the polynomial are complex.
The four inputs are given in figure 7 and one can see that in hover situation, the input u1 is
constant while the others inputs are equal to zero which is consistent with the realistic
situation that in hover position the four motors have the same velocity and by the relation

u1  i 1 K l i2
4

u 2  lK l ( 4   2 ) 
2 2

u   lK ( 2   2 ) 
 3  l 3 1 
u 4   
 K d (1   2  3   4 )
2 2 2 2

One see that u1goes to a constant and the others inputs goes to zero. Figure 8 and 9 show the
Roll and Pitch angles and one see that they oscillate with a little amplitude which is in line
with the reality particularly in hover situation.
Figure 10, shows the dynamic of the quadrotor in there dimension
Attitude and Altitude Regulation of a Four-Rotor Drone Using Backstepping 15

2.5
Xref
2 X

1.5

X position 0.5

-0.5

-1

-1.5

-2

-2.5
0 5 10 15 20 25 30 35 40 45 50
time s

Figure 3 : x position and it’s reference

2.5
Yref
2 Y

1.5

1
Y position

0.5

-0.5

-1

-1.5

-2
0 5 10 15 20 25 30 35 40 45 50
time s

Figure 4 : y position and it’s reference

16 Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad

30
Zref
z
25

20

z altirude (m)
15

10

-5
0 5 10 15 20 25 30 35 40 45 50
time s

Figure 5 : z position and it’s reference

1
Psir
0.9 Psi

0.8

0.7
Euler angles (deg)

0.6

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25 30 35 40 45 50
time s

Figure 6 : Yaw angle Psi and it’s reference

Attitude and Altitude Regulation of a Four-Rotor Drone Using Backstepping 17

6
U1
U2
4 U3
U4

U(N)
0

-2

-4

-6
0 5 10 15 20 25 30 35 40 45 50
time s

Figure 7 : The inputs u1 , u 2 , u 3 and u4

0.1
Phir
Phi

0.05
Euler angles (deg)

-0.05

-0.1

-0.15
0 5 10 15 20 25 30 35 40 45 50
time s

Figure 8 : Roll angle Phi and it’s reference

18 Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad

0.15
Tetar
Teta
0.1

0.05

Euler angles (deg)

0

-0.05

-0.1

-0.15

-0.2
0 5 10 15 20 25 30 35 40 45 50
time s

Figure 9: Pitch angle Teta and it’s reference

UAV trajectory

black:UAV trajectory
30 blue :Referece Trajectory

25

20

15
z

10

-5
5
5
0
0
y -5 -5
x

Figure 10: Dynamic of the in there dimension

5. CONCLUSION
In this paper, we present a feedback linearization technique design for attitude and position
control of a UAV, which can achieve asymptotic tracking of the time-varying reference
trajectory. The stability analysis of the overall system is guaranteed by the feedback
linearization technique. The simulation results shows that the tracking performance can be
achieved with the proposed with the design controller.
 Attitude and Altitude Regulation of a Four-Rotor Drone Using Backstepping 19

REFERENCES
[1] H. Kaufman and I. Bar-Kana and K. Sobel : Direct Adaptive Control Algorithms,
Springer, NY, 1994. DOI: 10.1007/978-1-4612-0657-6 .
[2] K. Mokhtari and A. Elhadri and M. Abdelaziz : A passivity based simple adaptive
synergetic control for a class of nonlinear systems. International Journal of Adaptive Control
and Signal Processing ,33(9), (2019), 1359-1373. DOI:10.1002/acs.3035.

[3] I. Petros A and P.V Kokotovic: Instability analysis and improvement of robustness
of adaptive control. Automatica, 20(5), (sept 1984), 583-594. DOI:10.1016/0005-
1098(84)90009-8.

[4] I. Barkana : Parallel feedforward and simpliffied adaptive control. International Journal
of Adaptive Control and Signal Processing, 1(2), (nov 1987), 95-109. DOI:
10.1061/(ASCE)AS.1943-5525.0000538 .
[5] I. Barkana : Positive-realness in multivariable stationary linear systems. Journal of
the Franklin Institute, 328(4), (jan 1991), 403-417. DOI:10.1016/0016-0032(91)90016-V.

[6] K. Ghedjati: Model Reference Adaptive Controller for LTI Systems with Time-
Variant Delay. Engineering, Technology & Applied Science Research Vol. 10, No. 3, pp.
5619-5626. DOI:10.48084/etasr.3427.
[7] K. Behih and K. Benmahammed and Z. Bouchama and M. N. Harmas: Real-Time
Investigation of an Adaptive Fuzzy Synergetic Controller for a DC-DC Buck Converter.
Engineering, Technology & Applied Science Research, Vol. 9, No. 6, (2019) pp. 4984-
4989.
[8] E. Nechadi : Adaptive Fuzzy Type-2 Synergetic Control Based on Bat Optimization for
Multi-Machine Power System Stabilizers. Engineering, Technology & Applied Science
Research, Vol. 9, No.5, (2019) pp. 4673-4678.
[9] B. Bourouba and S. Ladaci : A Novel Non-integer Indirect Adaptive Control for Non-
integer Order Systems with Non-prior Knowledge. Engineering. Technology & Applied
Science Research, Vol. 10, No.1, (2020) pp. 5186-5190. DOI: 10.48084/etasr.3236.
[10] F. Chen, Q. Wu and B. Jiang and G. Tao: A reconffiguration scheme for helicopter
via simple adaptive control and quantum logic. IEEE Transactions on Industrial Electronics,
62, (2015) ,4328-4335. DOI: 10.1109/TIE.2015.2389760
20 Dob Asma*, Ghedjati Keltoum, Abdelaziz Mourad
[11] S. I. Tomashevich and A. L. Fradkov and B. Andrievsky and A. O. Belyavskyi and
K : Amelin. Simple adaptive control of attitude algorithms and experimental results. In
2017 25th Mediterranean Conference on Control and Automation (MED). IEEE, (July
2017). DOI: 10.1109/MED.2017.7984239

[12] K. Mokhtari and M. Abdelaziz : Passivity-based Simple Adaptive Control for

Helicopter in the Presence of Actuator Dynamics. The 8th International Conference on
Modelling, Identifiation and Control (ICMIC 2016),15-17 November 2016, Algiers, Algeria.
DOI: 10.1109/ICMIC.2016.7804222

[13] S. Bouabdallah :Design and control of s with application to autonomousying. PhD thesis,
(Thesis), Ecole polytechnique federale de lausanne,( 2007).
Appendix
Tableau 1: Value of the quadrirotor parameters
Parameter Value Parameter Value
m 0.486 kg K fax 5.5670.10-4
N/rad/s
g 9.806 K fay 5.5670.10-4
m / s2 N/rad/s
l 0.25 m K faz 6.3540.10-4
N/rad/s
J r moment 2.8385.10-5 K ftx 5.5670.10-4
of inertia Kg.m2 N/rad/s
of the rotor
I x roll 3.8278.10-3 K fty 5.5670.10-4
inertia Kg.m2 N/rad/s

I y pitch 3.8288.10-3 K ftz 6.3540.10-4

inertia Kg.m2 N/rad/s

I z yaw 7.6566.10-3
inertia Kg.m2