Title :
Micro helicopter control: LMI approach vs SOS approach
Author :
Tanaka, Kazuo ; Komatsu, Takamichi ; Ohtake, Hiroshi ; Wang, Hua O.
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu
Abstract :
This paper presents a comparison result of micro helicopter control via a typical linear matrix inequality (LMI) approach and a sum of squares (SOS) approach. First we construct a dynamical model of a micro helicopter and convert it to a Takagi-Sugeno fuzzy model. Next, this paper summarizes a recent developed SOS design approach for polynomial fuzzy control systems based on polynomial Lyapunov functions. We emphasize that the SOS design approach to polynomial fuzzy control systems is more general than that based on the existing LMI design approaches to T-S fuzzy control systems. The control results of a micro helicopter show that the SOS design approach provides better control results than the LMI design approach.
Keywords :
Lyapunov methods; aerospace robotics; aircraft control; control system synthesis; fuzzy control; fuzzy systems; helicopters; linear matrix inequalities; microrobots; polynomials; remotely operated vehicles; LMI design; Takagi-Sugeno fuzzy model; UAV; linear matrix inequality; micro helicopter control; polynomial Lyapunov functions; polynomial fuzzy control systems; sum of squares; unmanned aerial vehicles; Asymptotic stability; Control systems; Fuzzy control; Helicopters; Intelligent sensors; Linear matrix inequalities; Lyapunov method; Polynomials; Takagi-Sugeno model; Unmanned aerial vehicles;
Conference_Titel :
Fuzzy Systems, 2008. FUZZ-IEEE 2008. (IEEE World Congress on Computational Intelligence). IEEE International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4244-1818-3
Electronic_ISBN :
1098-7584
DOI :
10.1109/FUZZY.2008.4630389
