Regional T-S Model-based Attitude Tracking Control of a Quadrotor with Input Saturation and External Disturbances

This paper presents a model reference attitude tracking controller design for quadrotor unmanned aerial vehicle subject to saturated actuators and external disturbances. The dynamical nonlinear of the quadrotor's is represented by an uncertain-like Takagi-Sugeno model, with exact matching on compact subset state space. generalized sector condition employed deal inputs quadrotor. LMI conditions are derived proposed from quadratic Lyapunov function, together performance index used minimize L2-norm transfer between disturbances errors. Because input saturation validity domain obtained results only hold regionally optimization procedure estimate closed-loop attraction proposed. Simulation provided illustrate effectiveness methodology.