Title :
Robust fuzzy control for stabilization of a quadrotor
Author :
Rabhi, A. ; Chadli, M. ; Pegard, C.
Author_Institution :
Lab. Modelisation, Inf. et Syst., UPJV-MIS, Amiens, France
Abstract :
In this paper, we propose an algorithm based on fuzzy control to ensure the stability of the quadrotor. After giving the nonlinear model of the robot, its representation by a Takagi-Sugeno (T-S) fuzzy model is first discussed. Next, a fuzzy controller are synthesized which guarantee desired control performances. The given controller is designed using numerical tools (Linear Matrix Inequalities-LMI). The simulation results show effectiveness and robustness of the proposed method.
Keywords :
aircraft control; control system synthesis; fuzzy control; helicopters; linear matrix inequalities; nonlinear control systems; robust control; LMI; T-S fuzzy model; Takagi-Sugeno fuzzy model; controller design; fuzzy controller; linear matrix inequalities; nonlinear model; quadrotor stability; quadrotor stabilization; robust fuzzy control; Fuzzy control; Mathematical model; Nonlinear systems; Robots; Robustness; Simulation; Stability analysis; Linear Matrix Inequalities (LMI); Quadrator; fuzzy control; nonlinear model;
Conference_Titel :
Advanced Robotics (ICAR), 2011 15th International Conference on
Conference_Location :
Tallinn
Print_ISBN :
978-1-4577-1158-9
DOI :
10.1109/ICAR.2011.6088629
