In this paper, a robust controller for attitude stabilization of a small quadrotor helicopter is developed. The TS (Takagi-Sugeno) fuzzy model approach and the $H_{\infty }$ robust control are combined to produce the proposed algorithm. Besides, disturbances and parametric uncertainties are considered. First, the nonlinear model of the vehicle is linearized around several operating points to obtain the representation of a TS fuzzy model, which represents the nonlinearity of the system dynamics. Then, a robust fuzzy controller is synthesized which guarantees desired control performances. The given controller is designed using numerical tools such as linear matrix inequalities (LMI). Finally, simulation results and real-time experiments are presented to validate the performance of the proposed scheme to robustly stabilize the quadrotor dynamics at the desired reference.

在本文中，开发了一种用于小型四旋翼直升机姿态稳定的鲁棒控制器。TS（Takagi-Sugeno）模糊模型方法和$H_{\infty }$结合鲁棒控制以产生所提出的算法。此外，还考虑了干扰和参数不确定性。首先，将车辆的非线性模型围绕几个工作点进行线性化，以获得TS模糊模型的表示，该TS模糊模型表示系统动力学的非线性。然后，合成一个鲁棒的模糊控制器，以保证所需的控制性能。给定的控制器是使用数值工具（例如线性矩阵不等式（LMI））设计的。最后，仿真结果和实时实验被提出来验证所提出的方案的性能，以将四旋翼动态稳定地稳定在所需的参考值上。