Stabilization of a quadrotor via Takagi-Sugeno fuzzy control

A Tagaki-Sugeno fuzzy model of a six degrees of freedom, four-rotor helicopter is presented. For this model, a state-feedback parallel distributed compensator is designed using a LMI optimization algorithm to ensure stability conditions. Stabilization over translational and angular coordinates is achieved. The simulations were performed without considering the effect of parametric uncertainties, wind and turbulences. The results obtained suggests the validity of the proposed approach.

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