A model-based fuzzy controller using the parallel distributed compensation method for quadrotor attitude stabilization

Author

Sheikhpour, Soroush ; Shouraki, Saeed Bagheri

Author_Institution

Artificial Creature Lab., Sharif Univ. of Technol., Tehran, Iran

fYear

2013

fDate

14-16 May 2013

Firstpage

1

Lastpage

6

Abstract

In this paper, a model-based fuzzy controller for attitude stabilization of a Quadrotor is proposed. To achieve this purpose first a Takagi-Sugeno fuzzy model for Quadrotor which is obtained from dynamic model is presented. Parallel Distributed Compensation (PDC) technique is utilized to design a state feedback controller. The purpose of control is to stabilize the Quadrotor while taking into account performance specifications such as decay rate and constraint on the input. Both of these conditions can be represented in term of linear matrix inequalities (LMIs). By simultaneously solving these LMIs a stabilizing fuzzy controller that achieves desired speed of response and small control effort can be obtained. Simulation results are included to validate the performance of this approach.

Keywords

aircraft control; attitude control; compensation; control system synthesis; fuzzy control; linear matrix inequalities; stability; state feedback; LMI; PDC technique; Takagi-Sugeno fuzzy model; dynamic model; fuzzy controller stabilization; linear matrix inequalities; model-based fuzzy controller; parallel distributed compensation method; quadrotor attitude stabilization; state feedback controller design; Equations; Linear matrix inequalities; Mathematical model; Rotors; Stability analysis; Takagi-Sugeno model; Vectors; (LMI) Linear Matrix Inequality; (PDC) Parallel Distributed Compensation; Quadrotor;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering (ICEE), 2013 21st Iranian Conference on

Conference_Location

Mashhad

Type

conf

DOI

10.1109/IranianCEE.2013.6599685

Filename

6599685