Paper Title
Control of a Quadcopter with Backstepping Controller Method

Abstract
This paper provides controller design methods developed for an unmanned aerial vehicle. Robust controllers are capable of adapting environmental changes. A backstepping controller design developed for quadrotor is explained and simulation results for roll, pitch, yaw angles and altitude are discussed respectively. Additionally, PID controller is developed for position. Keywords - Backstepping Control, Nonlinear, Robust Control, Quadcopter, Unmanned Aerial Vehicles