Trajectory tracking for a quadrotor via fuzzy regulation

In this paper a fuzzy regulator based on local linear controllers is implemented in order to solve the trajectory tracking problem for a Takagi-Sugeno fuzzy model of a six degrees of freedom quadrotor. Global stability conditions of the closed-loop system are guaranteed by the design of a state-feedback parallel distributed compensator, for which a common definite positive matrix is determined. The robustness of the proposed controller against un-modeled parametric uncertainties or environmental disturbances (wind, turbulence, etc.) is tested in simulations.