Position control of quadrotor via robust fuzzy controller with decay rate

In this paper, we deal with the position control of the quad rotor. It is possible to divide the overall quadrotor system into position, altitude, and attitude subsystems. If we divide the overall system, then each subsystem is organically connected. For the position control of the quad rotor, dynamics of each subsystem is first derived, and obtained nonlinear dyanmics are converted the Takagi-Sugeno fuzzy model. Furthermore, a robust control techniques will be proposed to handle the parameters uncertainty contained in each subsystem. Conventional robust fuzzy controller did not take into account the decay rate, but the proposed method concerns about the decay rate so that the system will converge faster. Finally, to verify the validity of the proposed method, simulation example is given in this paper.