To address the issues of poor control performance and lack of robustness during hovering flight of a quadcopter, a backstepping sliding mode control algorithm was designed. The nonlinear model the of quadcopter was established based on the Newton-Euler equations. The inner loop was designed for attitude control, while the outer loop was designed for position control. The backstepping sliding mode algorithm control was implemented in MATLAB, and simulation and experimentation demonstrated that the designed algorithm exhibits good response speed ...
