TY - JOUR AU - Hasseni, Seif-El-Islam AU - Abdou, Latifa PY - 2020/04/01 Y2 - 2024/03/29 TI - Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations JF - Advances in Technology Innovation JA - Adv. technol. innov. VL - 5 IS - 2 SE - Articles DO - 10.46604/aiti.2020.3953 UR - https://ojs.imeti.org/index.php/AITI/article/view/3953 SP - 98-111 AB - <p>This article investigates the robust stabilization of the rotational subsystem of a quadrotor against external inputs (disturbances, noises, and parametric uncertainties) by the LFT-based LPV technique. By establishing the LPV attitude model, the LPV robust controller is designed for the system. The weighting functions are computed by Cuckoo Search, a meta-heuristic optimization algorithm. Besides, the input saturations are also taken into account through the Anti-Windup compensation technique. Simulation results show the robustness of the closed-loop system against disturbances, measurement noises, and the parametric uncertainties.</p> ER -