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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    QUADROTOR ATTITUDE STABILIZATION USING TAKAGI-SUGENOMODEL



    Erscheinungsdatum :

    02.11.2020


    Anmerkungen:

    oai:zenodo.org:4185723



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Attitude Stabilization for a Quadrotor Using Adaptive Control Algorithm

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


    Attitude stabilization control of a quadrotor UAV by using backstepping approach

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

    Freier Zugriff

    Attitude stabilization control of a quadrotor UAV by using backstepping approach

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

    Freier Zugriff

    Attitude Stabilization Control Method for Quadrotor UAV Based on ADRC

    Yang, Sen / Xi, Leiping / Gong, Guanghong et al. | Springer Verlag | 2019


    EKF based sliding mode control for a quadrotor attitude stabilization

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