Fuzzy model-based control of a quadrotor

Abstract This paper focuses on a fuzzy-model-based design problem for the hovering control of a class of nonlinear quadrotors. The concerned problem turns into an exponential stabilization of an augmented error system to incorporate the tracking of the desired three dimensional position and yaw angle and the stabilization of roll and pitch motions. The augmented error dynamics under the proposed control scheme can be viewed as an interconnected system. It is shown that the interconnected system is exponential stable if its subsystems systems are so. This property makes the separate design of the available control inputs possible. Then, sufficient linear matrix inequality (LMI) conditions for its local exponential stabilizability are derived in the sense of Lyapunov stability criterion. An example is given to illustrate the effectiveness of the proposed design methodology.