**4. Quadcopter control**

The control scheme of the quadcopter can be represented as in **Figure 2**, it consists of two loops: the attitude control loop and the inner loop, which produces the control commands for the quadcopter to move. Moreover, the position control loop and the outer loop produce the references for the inner loop.

In this section, the control laws of the quadcopter will be derived using the aforementioned nonlinear control methods.

### **4.1 Quadcopter control using integral backstepping**

Control laws of the attitude and position of the quadcopter are derived using integral backstepping approach.
