In this article, we present the result of a nonlinear control technique applied to an autonomous quadrotor helicopter called X4-flyer. Using sliding mode-backstepping procedure, we can stabilize the engine in hovering mode. Moreover, for rejecting external load disturbance, two controls are presented: proportional-integral sliding mode-backstepping which is the combination between proportional-integral and sliding mode-backstepping into the so-called integral sliding mode-backstepping and the second is fuzzy integral sliding mode-backstepping. Finally fuzzy integral sliding mode-backstepping controller is investigated, where a fuzzy inference mechanism is used to achieve position tracking objective. The robustness of the controllers is studied in the presence of disturbances. Simulation results are also provided in order to illustrate the performances of the proposed controller versus the wind.
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