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.


    Access

    Download


    Export, share and cite



    Title :

    QUADROTOR ATTITUDE STABILIZATION USING TAKAGI-SUGENOMODEL



    Publication date :

    2020-11-02


    Remarks:

    oai:zenodo.org:4185723



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Attitude Stabilization for a Quadrotor Using Adaptive Control Algorithm

    Huang, Tianpeng / Li, Tieshan / Chen, C. L. Philip et al. | IEEE | 2024


    An Attitude Stabilization Method for Quadrotor Helicopter Using Brushless Motors

    Jing, Fang ;Tan, Li Ning ;Wang, Di | Trans Tech Publications | 2013


    Attitude stabilization control of a quadrotor UAV by using backstepping approach

    Huo, Xing / Huo, Mingyi / KARIMI, HAMID REZA | BASE | 2014

    Free access

    Attitude stabilization control of a quadrotor UAV by using backstepping approach

    Huo, Xing / Huo, Mingyi / Karimi, Hamid Reza | BASE | 2014

    Free access

    EKF based sliding mode control for a quadrotor attitude stabilization

    Kwon, Hyungkwan / Lee, Kyunghyun / You, Kwanho | IEEE | 2017