UAV Flight Path Control Using Contraction-Based Back-stepping Control

Abstract

In this paper, a contraction-based backstepping nonlinear control technique was proposed. The proposed controller synthesis technique utilizes both the recursive nature of backstepping control and of contraction analysis. This approach results in a contracting closed-loop dynamics, with exponential stability. The use of the hierarchical contraction form in the control problem formulation also results in the exponential convergence of controlled variables and can be easily applied to non-autonomous systems. A flight path angle controller was synthesized and simulated using the proposed technique to demonstrate the exponential convergence achieved by the backstepping controller design.