Fuzzy State Feedback for Attitude Stabilization of Quadrotor. (13th January 2016)

• Record Type: Journal Article
• Authors: Torres, Fernando; Rabhi, Abdelhamid; Lara, David; Romero, Gerardo; Pégard, Claude
• Is Part Of: International journal of advanced robotic systems. Volume 13:Number 1(2016)
• Publication Date: 2016-01-13
• Subjects: Fuzzy-model -- State Feedback -- UAVs; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/61934
• Languages: English
• ISSNs: 1729-8806

Abstract

In this paper, we propose an application of an algorithm, based on the T-S (Takagi-Sugeno) technique, to stabilize a quadrotor helicopter. After giving the nonlinear model of the vehicle, its representation by a T-S fuzzy model is discussed. Following this, a fuzzy controller is synthesized, which will guarantee the stability of the quadrotor. The proposed T-S controller is designed with measurable premise variables and the conditions of stability are given in terms of linear matrix inequality (LMI). Simulations and real-time experiments using a test-bed platform prove the performance of a PDC control algorithm to stabilize the vehicle robustly at a desired set point.