Attitude Robust Fuzzy H∞ Control for Quadrotor Vehicles

In the study, the attitude control problem of quadrotor vehicles utilizing robust fuzzy H
_∞
control is discussed in the presence of external disturbances, such as wind gust . Due to the highly nonlinearity of attitude model for quadrotor vehicle, the robust fuzzy H
_∞
controller is designed with basis of the approximated T-S fuzzy model. Then, the proposed controller is applied to the nonlinear attitude model for quadrotor vehicle to achieve the H
_∞
performance. The numerical simulations are performed to illustrate the effectiveness of the present scheme.