QUADROTOR ATTITUDE STABILIZATION USING TAKAGI -SUGENO M ODEL

In this paper a robust controller for attitude stabilization of a QuadrotorUAV is proposed. For this we design a Takagi-Sugeno (T-S) model for Quadrotor modelling , and then we use Linear Matrix Inequality (LMI), and PDC (Parallel Disturbance Compensation) techniqueto design a nonlinear state feedback controller with pole placement in a pre -specified region of the operating space .The stabilityof the whole closed-loop system is investigated using quadratic Lyapunovfunction.To demonstrateits usefulness, the proposed design methodology is applied to the problem of Quadrotor attitude stabilization. Simulation results show that the proposedLMI -based design methodology yields good transient performance.In addition, it is observed that the proposedstate feedback controller provides superior stability robustness againstparameter variationsand measurement noise.

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