Enhanced Quadrotor Drone Control: Integration of Backstepping Method with Butterfly Optimization Algorithm
Najlae Jennan, Wiam Darkaoui, El Mehdi Mellouli, El Hanafi Arjdal · 2025
This paper presents a robust approach for controlling a quadrotor drone, using the backstepping control method combined with the Butterfly Optimization Algorithm (BOA) to optimize its parameters, thereby improving its stability, and maneuverability. Barrier Lyapunov Functions are employed to provide a rigorous stability analysis and guarantee safe operation within defined constraints. The study begins with the identification of the mathematical model that governs the dynamics of the system. Subsequently, a backstepping controller is employed to control the drone's behavior. To further enhance the controller's performance, the BOA technique is employed to optimize the parameters associated with the controller. To estimate the hidden states of the quadrotor system, a trianguler observer is used. In addition, Barrier Lyapunov is employed to verify the efficiency of the suggested approach in maintaining safety and stability. The simulation results demonstrate the efficacy of the suggested strategy in comparison with traditional control techniques.