Abstract: Quadrotor unmanned aerial vehicle (UAV) is an underactuated， strongly coupled and highly unstable nonlinear system. The robustness and ability of anti-jamming for UAV system are the key problems of flight control. In order to restrain constant disturbance and variable disturbance during UAV flight， a novel control method named integral saturation backstepping control (ISBC) was proposed by introducing both the error integral and saturation function into classical backstepping control (CBC). The system stability was verified by the Lyapunov stability theorem. The simulation experiment of trajectory tracking was carried out using MATLAB/SIMULINK. Results of simulation experiment indicate that the quadrotor UAV system with ISBC control strategy performs better for anti-jamming and superior robustness than that with CBC control strategy.

Key words: quadrotor UAV, backstepping control, saturation function, error integral, trajectory tracking