Paper Info
Title
A Systematic Approach to Fuzzy-model-based Robust \(H_\infty\) Control Design for a Quadrotor UAV Under Imperfect Premise Matching.
Abstract
In this paper, a systematic procedure to design a robust (H_infty) controller for a quadrotor unmanned aerial vehicle is proposed. To do this, the nonlinear dynamic behavior of the quadrotor attitude system is represented as the Takagi–Sugeno (T–S) fuzzy model. Using the derived T–S fuzzy model, a sufficient condition guaranteeing the asymptotic stability and (H_infty) disturbance attenuation performance is proposed based on an linear matrix inequality. Unlike the previous studies employing the parallel-distributed-compensation concept, in this paper, the robust (H_infty) controller is designed under the imperfect premise matching condition in which the fuzzy controller uses the different membership functions from those of the fuzzy system. Thus, compared to the conventional methods, the hardware implementation cost of the proposed fuzzy controller is decreased even if the membership functions of the fuzzy system are complicated. Finally, some numerical examples are given to show the effectiveness of the proposed method.
Year
DOI
Venue
2017
10.1007/s40815-016-0233-6
Int. J. Fuzzy Syst.
Keywords
Field
DocType
Takagi–Sugeno fuzzy system, Quadrotor, Disturbance attenuation, $$H_\infty$$H∞ control
Control theory,Imperfect,Nonlinear system,Control theory,Fuzzy logic,Premise,Exponential stability,Fuzzy control system,Linear matrix inequality,Mathematics
Journal
Volume
Issue
ISSN
19
4
2199-3211
Citations 
PageRank 
References 
0
0.34
11
Authors
3
Name
Order
Citations
PageRank
Han Sol Kim131.72
Jin Bae Park21351102.77
Young Hoon Joo373876.87