Author: Yi Yang
Affiliation: Department of Mechanical Engineering, University of Michigan, USA
Date: December 2024
Venue: a Mechatronics and Robotics Online Course
This report presents an adaptive backstepping controller for a quadrotor UAV. The design incorporates parameter adaptation laws to handle unknown system dynamics and external disturbances. Simulation and preliminary experimental results demonstrate improved stability and robust trajectory tracking compared to conventional PD or PID control.