Simulation of Non-Linear Flight Control using backstepping method

This paper describes the design and the simulation of a non-linear controller for a drone using the backstepping method. The aim is to find the expressions of the ailerons deflection in order to control the heading angle.... [ view full abstract ]

This paper describes the design and the simulation of a non-linear controller for a drone using the backstepping method. The aim is to find the expressions of the ailerons deflection in order to control the heading angle. Backstepping controller uses the non-linear equations of motion of a drone, the Lyapunov analysis and the errors between the real and the desired values. The advantage of the backstepping method is to work with cascaded structures. Compared to the PID method, there is no need of tuning gains to ensure the stability. Furthermore, compared to the dynamic inversion there is no linearization and no approximations of the system; it works with the true non-linear system using virtual controls. Compared to other works, this paper deals with very accurate equations of motion and a very detailed non-linear coefficient aerodynamic model. This technique does not control only the bank angle or the roll Euler angle but particularly the heading angle. The controller has been implemented in Matlab/Simulink and FlightGear.