Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

Table 1

Quadrotor UAV model parameters.

Parameters	Description	Value	Units
𝑔	Gravity	9.81	m/s^2
𝑚	Mass	0.468	kg
𝑑	Distance	0.225	m
𝐼𝑚𝑖,𝑖=1,2,3	Rotor inertia	3.4×10^−5	kgm^2
𝐼𝑥	Roll inertia	4.9×10^−3	kgm^2
𝐼𝑦	Pitch inertia	4.9×10^−3	kgm^2
𝐼𝑧	Yaw inertia	8.8×10^−3	kgm^2
𝑅𝑎	Motor resistance	0.67	Ω
𝑘𝑚	Motor constant	4.3×10^−3	Nm/A
𝑘𝑔	Gear ratio	5.6
𝑏	Proportionality constant	2.9×10^−5
𝜅	Proportionality constant	1.1×10^−6