Quadrotor UAV attitude stabilization using fuzzy robust control

In this paper, a robust controller for attitude stabilization of a small quadrotor helicopter is developed. The TS (Takagi-Sugeno) fuzzy model approach and the H infinity robust control are combined to produce the proposed algorithm. Besides, disturbances and parametric uncertainties are considered. First, the nonlinear model of the vehicle is linearized around several operating points to obtain the representation of a TS fuzzy model, which represents the nonlinearity of the system dynamics. Then, a robust fuzzy controller is synthesized which guarantees desired control performances. The given controller is designed using numerical tools such as linear matrix inequalities (LMI). Finally, simulation results and real-time experiments are presented to validate the performance of the proposed scheme to robustly stabilize the quadrotor dynamics at the desired reference.

Automated summary

This paper develops a robust controller algorithm for attitude stabilization of a small quadrotor helicopter, combining the TS (Takagi-Sugeno) fuzzy model approach and H infinity robust control. By linearizing the nonlinear model of the vehicle and synthesizing a robust fuzzy controller using tools like linear matrix inequalities (LMI), the proposed scheme successfully stabilizes the quadrotor dynamics at the desired reference point.