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In this paper we present a Takagi-Sugeno (T-S) model for Quadrotor modelling. This model is developed using multiple model approach, composed of three locally accurate models valid in different region of the operating space. It enables us to model the global nonlinear system with some degree of accuracy. Once the T-S model has been defined it is claimed to be relatively straightforward to design a controller with the same strategy of T-S model. A nonlinear state feedback controller based on Linear Matrix Inequality (LMI), and PDC technique with pole placement constraint is synthesized. The requirements of stability and poleplacement in LMI region are formulated based on the Lyapunov direct method. By recasting these constraints into LMIs, we formulate an LMI feasibility problem for the design of the nonlinear state feedback controller. This controller is applied to a nonlinear Quadrotor system, which is one of the most complex flying systems that exist. A comparative study between controller with stability constraints and controller with pole placement constrains is made. Simulation results show that the controller with pole placement constrains yields good tracking performance. The designed T-S model is validated using Matlab Simulink.

This paper considers the stabilization problem of an underactuated quadrotor UAV systemin presence of actuator faults. The dynamic model of quadrotor while takinginto account various physical phenomena, which can influence the dynamics of a flying structureis presented. Subsequently, a new control strategy based on backstepping approach andtaking into account the actuator faults is developed. Lyapunov based stability analysis shows that the proposed control strategy design keep s the stability of the closed loop dynamics of quadrotor UAVeven after the presence of actuator faults. Numerical simulation results are provided to show the good tracking performance ofproposed control laws.

The work proposed in this paper aims to design a robust stabilization of an underactuated quadrotor UAV system in presence of sensor failures. The dynamical model of quadrotor while taking into account various physical phenomena, which can influence the dynamics of a flying structure is presented. Subsequently, a new control strategy based on backstepping approach is developed. Lyapunov based stability analysis shows that the proposed control strategy design keep the stability of the closed loop dynamics of the quadrotor UAV even after the presence of sensor failures. Numerical simulation results are provided to show the good tracking performance of proposed control laws.