Adaptive Backstepping Design and Flight Testing of a Multirotor Position Controller

Christoph Krammer, Guillermo P. Falconi, Florian Holzapfel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


The interest in multirotor systems has significantly increased over the last decade, with considerable further potential application scenarios in the future. Multiple adaptive control strategies have been developed to account for uncertainties and disturbances during operation. In this paper, we derive an adaptive backstepping position controller by utilizing the tuning functions methodology. This allows compensating for both matched and unmatched disturbances in the system. Asymptotic stability of the reference model is proved with Lyapunov's second method. The derived control laws are implemented and finally validated during flight tests with a hexacopter system.

Original languageEnglish
Title of host publication2023 American Control Conference, ACC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9798350328066
StatePublished - 2023
Event2023 American Control Conference, ACC 2023 - San Diego, United States
Duration: 31 May 20232 Jun 2023

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2023 American Control Conference, ACC 2023
Country/TerritoryUnited States
CitySan Diego


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