Output regulation for an unmanned helicopter via integral fuzzy control

This paper proposes a integral fuzzy control strategy to solve output regulation problem for unmanned micro helicopter. In order to eliminate the system´s bias and guarantee the zero-offset output regulation performance, we firstly take coordinate translation at equilibrium point and introduce an added integral state of output regulation error, and then the resulting augmented system is represented into a Takagi-Sugeno fuzzy model. By using parallel distributed compensation (PDC) technique and direct Lyapunov method, an integral state feedback control law is derived in the format of linear matrix inequalities (LMIs). Moreover, the proposed controller design has following merits: i) capability to dealing with nonlinear system; ii) giving the exponential stability in the presence of model uncertainty; iii) possessing a piecewise constant output regulation performance. Finally, an unmanned helicopter dynamic model is presented to demonstrate the performance of the proposed integral fuzzy controller.