Title :
Fuzzy modeling and control for a nonlinear quadrotor under network environment
Author :
Fei Han ; Gang Feng ; Yong Wang ; Fan Zhou
Author_Institution :
Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China
Abstract :
This paper considers the fuzzy modeling and H∞ state feedback control for network-based quadrotor under unreliable communication links, and there are delays and packet dropouts throughout the transmission. The nonlinear quadrotor in this paper is firstly approximated by a Takagi-Sugeno (T-S) fuzzy model. The network-induced delays and packet dropouts in both sensor-to-controller (S/C) and controller-to-actuator (C/A) channels are modeled in a unified framework. Then a fuzzy controller is designed so that the resulting closed-loop quadrotor system is asymptotically stable with guaranteed H∞ performance. Finally, a simulation is given to illustrated the procedure of the proposed approach.
Keywords :
H∞ control; aircraft control; control system synthesis; delay systems; fuzzy control; helicopters; nonlinear control systems; state feedback; C/A channels; H∞ state feedback control; S/C channels; T-S fuzzy model; Takagi-Sugeno fuzzy model; asymptotic stability; closed-loop quadrotor system; controller-to-actuator channels; fuzzy controller design; fuzzy modeling; guaranteed H∞ performance; network environment; network-based quadrotor; network-induced delays; nonlinear quadrotor; packet dropouts; sensor-to-controller channels; transmission; unreliable communication links; Aerospace control; Aircraft; Atmospheric modeling; Closed loop systems; Computational modeling; Delays; Symmetric matrices;
Conference_Titel :
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2014 IEEE 4th Annual International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4799-3668-7
DOI :
10.1109/CYBER.2014.6917496
