From Pid to State Feedback Attitude Stabilization of a Quadrotor Uav

The work proposed in this paper aim to design tow controllers for attitude stabilization of a Quadrotor UAV. The first is a classical PID controller; the second is a nonlinear state feedback controller which designed using multiple model approach. We start with the design of a Takagi-Sugeno (T-S) model for Quadrotor modelling, and then we use Linear Matrix Inequality (LMI), and PDC (Parallel Disturbance Compensation) technique to design a nonlinear state feedback controller with pole placement in a prespecified region of the operating space. The requirements of stability and pole-placement in LMI region are formulated based on the Lyapunov direct method. By recasting these constraints into LMIs, we formulate an LMI feasibility problem to calculate the controller gains. The both controllers are applied to a nonlinear Quadrotor system. Simulation results show that the proposed LMI-based design controller (State feedback) yields better transient performance than those of PID controller.