In this paper a robust controller for attitude stabilization of a Quadrotor UAV 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) technique to 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 ofQuadrotor attitude stabilization. Simulation results show that the proposedLMI-based design methodology yields good transient performance.In addition, it is observed that the proposed state feedback controller provides superior stability robustness againstparameter variationsand measurement noise.
QUADROTOR ATTITUDE STABILIZATION USING TAKAGI-SUGENOMODEL
2020-11-02
oai:zenodo.org:4185723
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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