A Control Design for Quad Rotor UAVs with Input Unmodeled Dynamics

Prashanth Krishnamurthy, Farshad Khorrami

Research output: Contribution to journalArticlepeer-review


A general six degree-of-freedom nonlinear dynamic model of a quadrotor with unknown input unmodeled dynamics is considered and a nonlinear control design is proposed for robust stabilization and trajectory tracking. The proposed controller is robust to disturbance forces and torques as well as uncertain nonlinear dynamic input perturbations. The proposed dynamic controller is based on a backstepping-based controller design for the nominal six degreeof-freedom dynamics of the quadrotor system and a scaling-based redesign of this nominal controller utilizing a dynamic scaling parameter and a dynamic state extension to address the uncertain input nonlinearities and input unmodeled dynamics.

Original languageEnglish (US)
Pages (from-to)227-232
Number of pages6
JournalProceedings of the Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON). Saint Petersburg, Russia. June 2015
Issue number11 11
StatePublished - 2015


  • Autonomous vehicles
  • Nonlinear control systems
  • Quadrotor UAVs
  • Robust control
  • Uncertain dynamic systems

ASJC Scopus subject areas

  • Control and Systems Engineering


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