In this article, a novel control algorithm called the combined backstepping and feedback linearisation method, along with an uncertainty estimator, is presented for quadrotors. The objective is to develop a robust control algorithm capable of handling various flight conditions, compensating for uncertainties and disturbances, and effectively controlling high-speed manoeuvres. To accomplish this, the quadrotor dynamics model is first derived using the Newton–Euler method. Subsequently, a backstepping control algorithm is designed for the quadrotor's internal control layer, followed by the application of the feedback linearisation method to the external control layer. An estimator is also designed to mitigate the effects of disturbances and uncertainties. A comparison is made between the proposed combined backstepping and feedback linearisation algorithm and the backstepping method, revealing that the combined backstepping and feedback linearisation algorithm outperforms the backstepping method across different aspects. Notably, the combined backstepping and feedback linearisation algorithm achieves faster trajectory tracking and demonstrates fewer steady-state errors. Additionally, the integration of the uncertainty estimator into the combined backstepping and feedback linearisation algorithm effectively mitigates the detrimental effects of disturbances and uncertainties. Comparative results for tracking control are presented to evaluate the performance of the proposed algorithm across various scenarios and case studies.
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