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.
Bibliographical noteFunding Information:
This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (NRF-2015R1A2A2A05001610) and by the D2 Innovation funded by the Agency for Defense Development, Grant No. UC150001ID.
© 2016, Taiwan Fuzzy Systems Association and Springer-Verlag Berlin Heidelberg.
All Science Journal Classification (ASJC) codes
- Theoretical Computer Science
- Computational Theory and Mathematics
- Artificial Intelligence