Abstract
The main objectives of this paper consist of developing Control, to stabilize a quadrotor. To achieve this purpose first a Takagi-Sugeno (T.S) fuzzy model for Quadrotor, obtained from a dynamic model, is presented. 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) and Parallel Disturbance Compensation (PDC) technique with pole placement constraint is synthesized. The requirements of stability and pole placement in LMI region are formulated based on the Lyapunov direct method. Simulation results are included to validate the performance of this approach.
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