Abstract
This paper is dedicated to the modeling and control for a hexarotor-type unmanned aerial vehicle based in a convex rewrite that it is represents exactly the nonlinear model of the hexarotor. Then, the controller design is considered a parallel-distributed compensation control law to stabilitze of the vehicle and a H∞ performance criterion to aguratee robustness againts distrubances. The stability condition and robust performance are formulated using the function quadratic of Lyapunov where the sufficient conditions are given by a set of linear matrix inequalities. Finally, it is illustrated the numerical simulations of the proposed method through of the hexarotor.
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