Position control of quadrotor via robust fuzzy controller with decay rate

Han Sol Kim, Jin Bae Park, Young Hoon Joo

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Pages2542-2547
Number of pages6
Publication statusPublished - 2013 Jan 1
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: 2013 Sep 142013 Sep 17

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period13/9/1413/9/17

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Kim, H. S., Park, J. B., & Joo, Y. H. (2013). Position control of quadrotor via robust fuzzy controller with decay rate. 2542-2547. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.