Nonlinear Flight Control of a Two-Degree-of-Freedom Helicopter Using Takagi-Sugeno Fuzzy Model

Author

Yu, Gwo-Ruey ; Chen, S.H.

Author_Institution

Nat. Ilan Univ., Ilan

Volume

5

fYear

2006

fDate

8-11 Oct. 2006

Firstpage

4354

Lastpage

4359

Abstract

This paper presents the nonlinear flight control for attitudes of a two-degree-of-freedom (2DOF) helicopter. A Takagi-Sugeno (T-S) fuzzy model is employed to approximate the nonlinear 2DOF helicopter. The model-based fuzzy controller is designed via parallel distributed compensation (PDC). The linear quadratic regulator (LQR) technique is applied to control the input voltage of two DC motors such that the attitudes of an experimental helicopter are tracked. The linear matrix inequalities (LMIs) are carried out to guarantee the stability of the nonlinear controller. Computer simulations and experiment results demonstrate the effectiveness of the nonlinear flight control.

Keywords

DC motors; aircraft control; attitude control; control system synthesis; fuzzy control; helicopters; linear matrix inequalities; linear quadratic control; nonlinear control systems; stability; DC motors; Takagi-Sugeno fuzzy model; attitude control; linear matrix inequalities; linear quadratic regulator; model-based fuzzy controller; nonlinear controller stability; nonlinear flight control; parallel distributed compensation; two-degree-of-freedom helicopter; Aerospace control; Attitude control; DC motors; Fuzzy control; Helicopters; Linear matrix inequalities; Regulators; Stability; Takagi-Sugeno model; Voltage control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2006. SMC '06. IEEE International Conference on

Conference_Location

Taipei

Print_ISBN

1-4244-0099-6

Electronic_ISBN

1-4244-0100-3

Type

conf

DOI

10.1109/ICSMC.2006.384819

Filename

4274584