This paper proposes a nonlinear backstepping‐based trajectory tracking control for a quadrotor unmanned aerial vehicle. By incorporating a disturbance observer, the method provides globally exponentially stable tracking error dynamics in the presence of constant force and torque disturbances for position tracking. For time‐varying disturbances, the tracking error is proven to be ultimately bounded. Simulation results illustrates the robust performance and reduced complexity of the proposed control law.

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