Journal of Electrical Engineering & Technology

, Volume 14, Issue 6, pp 2539–2547 | Cite as

Back-Stepping Integral Sliding Mode Control with Iterative Learning Control Algorithm for Quadrotor UAVs

  • Davood Allahverdy
  • Ahmad FakharianEmail author
  • Mohammad Bagher Menhaj
Original Article


In this study, back-stepping integral sliding mode control (BISMC) with iterative learning control (ILC) algorithm are presented for nonlinear translational and rotational dynamics of the Quadrotor UAVs. The proposed controller (BISMC) can track desired trajectories and (ILC) is responsible for inclining the accuracy and robustness of the control strategy. In order to prove the stability of the closed loop system, Lyapunov theorem is used. The simulation results indicate that the proposed control strategy has high accuracy, suitable robustness, disturbance rejection, good trajectory tracking and fast transient responses for the Quadrotor UAVs despite the uncertainties and external disturbances.


Back-stepping integral sliding mode control Quadrotor UAVs Iterative learning control Disturbance rejection 



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Copyright information

© The Korean Institute of Electrical Engineers 2019

Authors and Affiliations

  1. 1.Science and Research BranchIslamic Azad UniversityTehranIran
  2. 2.Faculty of Electrical, Biomedical and Mechatronics EngineeringQazvin Branch, Islamic Azad UniversityQazvinIran
  3. 3.Department of Electrical EngineeringAmirkabir University of TechnologyTehranIran

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