A Model-Based Fuzzy Controller Using the Parallel Distributed Compensation Method for Quadrotor Attitude Stabilization

سال انتشار: 1392
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 1,490

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شناسه ملی سند علمی:

ICEE21_406

تاریخ نمایه سازی: 27 مرداد 1392

چکیده مقاله:

In this paper, a model-based fuzzy controller for attitude stabilization of a Quadrotor is proposed. To achieve this purpose first a Takagi-Sugeno fuzzy model for Quadrotorwhich is obtained from dynamic model is presented. Parallel Distributed Compensation (PDC) technique is utilized to designa state feedback controller. The purpose of control is to stabilize the Quadrotor while taking into account performance specifications such as decay rate and constraint on the input. Both of these conditions can be represented in term of linear matrix inequalities (LMIs). By simultaneously solving these LMIs a stabilizing fuzzy controller that achieves desired speed of response and small control effort can be obtained.Simulation results are included to validate the performance of this approach

کلیدواژه ها:

Quadrotor ، (PDC) Parallel Distributed Compensation ، (LMI) Linear Matrix Inequality

نویسندگان

Soroush Sheikhpour

Artificial Creature Lab, Electrical Engineering School, Sharif University of Technology