Attitude control for quadrotor UAV with dead zone and external disturbance

This paper investigates adaptive attitude control for quadrotor unmanned aerial vehicle (UAV) with dead zone and external disturbance. A attitude controller is designed based on backstepping, and adaptive law is designed to compensate the influence of input dead zone and external disturbance. The designed controller guarantees that attitude angle of quadrotor UAV can trace the desired attitude angle. Finally, simulation results have demonstrated the effectiveness of the designed scheme.