Biplane Trajectory Tracking Using Hybrid Controller Based on Backstepping and Integral Terminal Sliding Mode Control

A biplane quadrotor is a hybrid type of Unmanned Aerial Vehicle (UAV) that has advantages both fixed-wing and rotary-wing UAVs. In this study, we design controllers using (i) Backstepping Control (BSC), (ii) Integral Terminal Sliding Mode (ITSMC), (iii) Hybrid control (ITSMC + BSC), where the ITSMC controls attitude BSC altitude subsystems as per mathematical model quadrotor. The performance these evaluated based on autonomous trajectory tracking containing all possible maneuvers operation modes can perform. Performance analysis reveals BSC-based controller susceptible to steady-state error in when mass changed. contrast, “hybrid” achieve smooth finite time. Furthermore, outperforms other designs, reducing faster convergence