Robust fuzzy control for stabilization of a quadrotor


In this paper, we propose an algorithm based on fuzzy control to ensure the stability of the quadrotor. After giving the nonlinear model of the robot, its representation by a Takagi-Sugeno (T-S) fuzzy model is first discussed. Next, a fuzzy controller are synthesized which guarantee desired control performances. The given controller is designed using numerical tools (Linear Matrix Inequalities-LMI). The simulation results show effectiveness and robustness of the proposed method.

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Cite this paper

@article{Rabhi2011RobustFC, title={Robust fuzzy control for stabilization of a quadrotor}, author={Abdelhamid Rabhi and Mohammed Chadli and Claude P{\'e}gard}, journal={2011 15th International Conference on Advanced Robotics (ICAR)}, year={2011}, pages={471-475} }