Quadrotor stabilization under time and space constraints using implicit PID controller

In this paper, the quadrotor stabilization under time and state constraints is studied. The objective to design a nonlinear controller constraint for quadrotor. model built by Euler-Lagrange approach while ignoring Coriolis terms, hub moment force. Based on quadrotor’s dynamic model, feedback designed constraints. This an implicit PID where gains are obtained from LMIs (Linear matrix inequalities). LMI system characterizing stability convergence properties based convex embedding Lyapunov function method. To demonstrate application prospects of controller, robustness analysis provided show property external disturbance . key novelty paper that proven feasible applying constraints, which also main outcome.