T‒S Fuzzy-model-based Robust Controller Design of a Morphing Quadrotor by Considering Input Saturation

In this paper, we propose a Takagi‒Sugeno (T‒S) fuzzy-model-based robust controller design of a morphing quadrotor system by considering input saturation. First, the closed-loop control system is expressed as the T‒S fuzzy model by considering the input saturation characteristics of the actuator of a morphing quadrotor. Then, we derive the robust controller design condition as linear matrix inequalities (LMIs) to enable the designed controller to become robust to parameter uncertainties and the input saturation characteristics of the control system. Finally, in the simulation example, we verify the validity of the proposed method by showing that the designed controller successfully stabilizes the attitude system of the quadrotor.