{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,19]],"date-time":"2026-06-19T16:19:37Z","timestamp":1781885977022,"version":"3.54.5"},"reference-count":48,"publisher":"SAGE Publications","issue":"12","license":[{"start":{"date-parts":[[2021,4,6]],"date-time":"2021-04-06T00:00:00Z","timestamp":1617667200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2021,8]]},"abstract":"<jats:p>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 [Formula: see text] 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.<\/jats:p>","DOI":"10.1177\/01423312211002588","type":"journal-article","created":{"date-parts":[[2021,4,6]],"date-time":"2021-04-06T08:00:31Z","timestamp":1617696031000},"page":"2599-2614","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":22,"title":["Quadrotor UAV attitude stabilization using fuzzy robust control"],"prefix":"10.1177","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5510-1990","authenticated-orcid":false,"given":"David","family":"Lara Alabazares","sequence":"first","affiliation":[{"name":"National Technological of Mexico (TECNM) Campus Misantla, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Abdelhamid","family":"Rabhi","sequence":"additional","affiliation":[{"name":"Laboratory of Modelling, Information and Systems, University of Picardie Jules Verne, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Claude","family":"Pegard","sequence":"additional","affiliation":[{"name":"Laboratory of Modelling, Information and Systems, University of Picardie Jules Verne, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fernando","family":"Torres Garcia","sequence":"additional","affiliation":[{"name":"Autonomous University of Tamaulipas, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gerardo","family":"Romero Galvan","sequence":"additional","affiliation":[{"name":"Autonomous University of Tamaulipas, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2021,4,6]]},"reference":[{"key":"bibr1-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2019.02.008"},{"key":"bibr2-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.fss.2012.07.008"},{"key":"bibr3-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1002\/9780470664797"},{"key":"bibr4-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/0967-0661(96)00175-X"},{"key":"bibr5-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570447"},{"issue":"2","key":"bibr6-01423312211002588","first-page":"118","volume":"1","author":"Bouadi H","year":"2007","journal-title":"International Journal of Mechanical, Aerospace, Industrial and Mechatronics Engineering"},{"key":"bibr7-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2017.08.002"},{"key":"bibr8-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2004.825052"},{"issue":"8","key":"bibr9-01423312211002588","doi-asserted-by":"crossref","first-page":"5044","DOI":"10.1109\/TIE.2016.2547365","volume":"63","author":"Chen F","year":"2016","journal-title":"IEEE Transactions on Industrial Electronics"},{"key":"bibr10-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2006.372515"},{"key":"bibr11-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2016.07.092"},{"key":"bibr12-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1177\/1756829317734835"},{"key":"bibr13-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-4399-4"},{"key":"bibr14-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9890-y"},{"key":"bibr15-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/SECon.2012.6196930"},{"key":"bibr16-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.paerosci.2017.04.003"},{"key":"bibr17-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2015.1048"},{"key":"bibr18-01423312211002588","volume-title":"Nonlinear Systems","author":"Khalill HK","year":"1996"},{"key":"bibr19-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2009.11.002"},{"key":"bibr20-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/S0165-0114(99)00078-0"},{"key":"bibr21-01423312211002588","first-page":"107","volume-title":"The 16th International Conference on Communication Technology","author":"Li L","year":"2015"},{"key":"bibr22-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2674634"},{"key":"bibr23-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2018.11.002"},{"key":"bibr24-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1177\/1077546319901019"},{"key":"bibr25-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9813-y"},{"key":"bibr26-01423312211002588","volume-title":"System Architecture of Small Autonomous UAVs","author":"Musial M","year":"2008"},{"key":"bibr27-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2014.6859222"},{"key":"bibr28-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/MED.2007.4433964"},{"key":"bibr29-01423312211002588","first-page":"2041","volume-title":"The Society of Instrument and Control Engineer Conference","author":"Panomrattanarug B","year":"2013"},{"key":"bibr30-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1007\/s40747-017-0051-y"},{"key":"bibr31-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2010.02.008"},{"key":"bibr32-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2011.6088629"},{"key":"bibr33-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.10.018"},{"key":"bibr34-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9911-x"},{"key":"bibr35-01423312211002588","doi-asserted-by":"publisher","DOI":"10.3182\/20050703-6-CZ-1902.01981"},{"key":"bibr36-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/IranianCEE.2013.6599685"},{"key":"bibr37-01423312211002588","volume-title":"Aircraft Control and Simulation","author":"Stevens BL","year":"2003"},{"key":"bibr38-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1985.6313399"},{"key":"bibr39-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/91.669023"},{"key":"bibr40-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2004.1430207"},{"issue":"2","key":"bibr41-01423312211002588","first-page":"1","volume":"12","author":"Torres F","year":"2016","journal-title":"International Journal of Advanced Robotic Systems"},{"key":"bibr42-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2018.11.015"},{"issue":"7","key":"bibr43-01423312211002588","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TSMC.2018.2840799","volume":"48","author":"Woods A","year":"2018","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics Systems"},{"key":"bibr44-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1260\/1756-8293.7.1.1"},{"key":"bibr45-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2007.05.004"},{"key":"bibr46-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-019-05002-9"},{"key":"bibr47-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.3290"},{"key":"bibr48-01423312211002588","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2014.03.010"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/01423312211002588","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/01423312211002588","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/01423312211002588","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T15:02:58Z","timestamp":1777647778000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/01423312211002588"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4,6]]},"references-count":48,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2021,8]]}},"alternative-id":["10.1177\/01423312211002588"],"URL":"https:\/\/doi.org\/10.1177\/01423312211002588","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"value":"0142-3312","type":"print"},{"value":"1477-0369","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4,6]]}}}