Robust control of a quadrotor using Takagi-Sugeno fuzzy model and an LMI approach

Author

Hyeonbeom Lee ; Kim, H.J.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea

fYear

2014

fDate

22-25 Oct. 2014

Firstpage

370

Lastpage

374

Abstract

This paper presents robust control for a quadrotor using TS (Takagi-Sugeno) fuzzy model and an LMI (Linear Matrix Inequality) approach. TS fuzzy model can provide an effective representation of nonlinear systems with a set of local linear models. We present TS fuzzy model for the quarotor which is composed of local linear models valid in different operation points. Also, a state feedback controller is designed based on LMIs with the pole placement method. Simulation results illustrate the more stable tracking performance of the proposed controller in comparison with a conventional LQR controller.

Keywords

aerospace robotics; control system synthesis; fuzzy set theory; fuzzy systems; linear matrix inequalities; nonlinear control systems; pole assignment; robust control; state feedback; LMI approach; TS fuzzy model; Takagi-Sugeno fuzzy model; local linear model; nonlinear systems; pole placement method; quadrotor; robust control; state feedback controller design; Control design; Robots; Switches; Trajectory; LMIs; Robust control; TS fuzzy model; quadrotor;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2014 14th International Conference on

Conference_Location

Seoul

ISSN

2093-7121

Print_ISBN

978-8-9932-1506-9

Type

conf

DOI

10.1109/ICCAS.2014.6988024

Filename

6988024