In this paper a fuzzy regulator based on local linear controllers is implemented in order to solve the trajectory tracking problem for a Takagi-Sugeno fuzzy model of a six degrees of freedom quadrotor. Global stability conditions of the closed-loop system are guaranteed by the design of a state-feedback parallel distributed compensator, for which a common definite positive matrix is determined. The robustness of the proposed controller against un-modeled parametric uncertainties or environmental disturbances (wind, turbulence, etc.) is tested in simulations.

Trajectory Tracking for a Quadrotor via Fuzzy Regulation

DI GENNARO, Stefano;
2012-01-01

Abstract

In this paper a fuzzy regulator based on local linear controllers is implemented in order to solve the trajectory tracking problem for a Takagi-Sugeno fuzzy model of a six degrees of freedom quadrotor. Global stability conditions of the closed-loop system are guaranteed by the design of a state-feedback parallel distributed compensator, for which a common definite positive matrix is determined. The robustness of the proposed controller against un-modeled parametric uncertainties or environmental disturbances (wind, turbulence, etc.) is tested in simulations.
978-1-4673-4497-5
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11697/89198
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