Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations


  • Seif-El-Islam Hasseni LMSE Laboratory, Electrical Engineering Department, University of Biskra, Algeria
  • Latifa Abdou LI3CUB Laboratory, Electrical Engineering Department, University of Biskra, Algeria



quadrotor, LPV systems, optimal weighting functions, cuckoo search, input saturations


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.


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How to Cite

S.-E.-I. Hasseni and L. Abdou, “Robust LPV Control for Attitude Stabilization of a Quadrotor Helicopter under Input Saturations”, Adv. technol. innov., vol. 5, no. 2, pp. 98–111, Apr. 2020.