A Novel Framework of Modelling, Control, and Simulation for Autonomous Quadrotor UAVs Utilizing Arduino Mega

Algorithm 2

Algorithm integrator backstepping.

1. Require coefficients of correction

2. Read trajectory states

3. Read/call for the sensor’s reading/state estimations

4. Calculate errors, their derivatives & their summations

5. Calculate Ui by (28) to (30) & (33).

6. Calculate each rotor input