A Systematic Approach to Fuzzy-model-based Robust H Control Design for a Quadrotor UAV Under Imperfect Premise Matching

Han Sol Kim, Jin Bae Park, Young Hoon Joo

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

In this paper, a systematic procedure to design a robust H 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 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 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.

Original languageEnglish
Pages (from-to)1227-1237
Number of pages11
JournalInternational Journal of Fuzzy Systems
Volume19
Issue number4
DOIs
Publication statusPublished - 2017 Aug 1

All Science Journal Classification (ASJC) codes

  • Software
  • Theoretical Computer Science
  • Computational Theory and Mathematics
  • Artificial Intelligence

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