| Title |
Design of H ∞ Guaranteed Cost Controller of a Quadrotor Based on a T-S Fuzzy Model |
| Authors |
이경학(Gyeong Hak Lee) ; 김도완(Do Wan Kim) |
| DOI |
https://doi.org/10.5370/KIEE.2019.68.11.1396 |
| Keywords |
Takagi-Sugeno (T-S) fuzzy model; quadrotor; Lyapunov stability; guaranteed cost control |
| Abstract |
This paper proposes a Takagi-Sugeno (T-S) fuzzy-model-based design for the ∞ guaranteed cost control of a class of nonlinear quadrotor. The proposed guaranteed cost controller is designed for the position and attitude control of quadrotor with disturbances.
Through the sector nonlinearity, the quadrotor dynamics is represented by the T-S fuzzy model. Its sufficient conditions for asymptotic stabilization are derived in the format of a linear matrix inequality. Simulation results demonstrate the effectiveness of the proposed methodology. |