Decentralized sampled-data fuzzy controller design for a VTOL UAV |
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| Authors: | Han Sol Kim Kwangil Lee Young Hoon Joo |
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| Institution: | 1. Department of Control and Automation Engineering, National Korea Maritime and Ocean University, Busan 49112, South Korea;2. School of IT Information and Control Engineering, Kunsan National University, Kunsan 54150, South Korea;1. Automatic Laboratory of Setif, Department of Electrical Engineering, Setif 1 University, Maabouda, Street of Bejaia, Setif 19000, Algeria;2. Université de Rouen, IUT, Chemical Engineering Department, Rue Lavoisier, Mont-Saint-Aignan 76130, France;1. Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico;2. Departamento de Computacion, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico;1. School of Electronic and Electric Engineering, Shanghai University of Engineering Science, China;2. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China;3. School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, China;4. School of Physics and Electronic Engineering, Guangzhou University, Guangzhou, China;1. School of Information Engineering, Fuyang Normal University, Fuyang 236041, PR China;2. College of Mathematics and Statistics, Guangxi Normal University, Guilin 541006, PR China;3. School of Information Science and Engineering, Chengdu University, Chengdu 610106, PR China;4. School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin 541004, PR China;5. School of Mathematics, Southeast University, Nanjing 211189, China;6. Yonsei Frontier Lab, Yonser University, Seoul 03722, Korea;1. College of Electrical and Information Engineering, Jiangsu University of Technology, Changzhou 213001, China;2. College of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China;1. School of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, Zhejiang, China;2. The State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, China;3. Zhejiang Provincial Key Laboratory of Part Rolling Technology, Ningbo 315211, Zhejiang, China;4. College of Information Engineering, Nanjing University of Finance and Economics, Nanjing 210023, Jiangsu, China;5. School of Engineering Technology, Purdue University, 610 Purdue Mall, West Lafayette, IN 47907, America |
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| Abstract: | This study focuses on a sampled-data fuzzy decentralized tracking control problem for a quadrotor unmanned aerial vehicle (UAV) under the variable sampling rate condition. To this end, the overall dynamics of the quadrotor is expressed as a decentralized Takagi–Sugeno (T–S) fuzzy model interconnected with each other. Although the proposed decentralized control technique divides the overall UAV control system into attitude and position subsystems, the stability of the entire control system is guaranteed. Besides, in this paper, the model uncertainty, interconnection, and reference trajectory are considered as disturbances acting on the tracking error. To attenuate these disturbances, a novel sampled-data tracking control design technique is derived based on a linear reference model to be tracked and the time-dependent Lyapunov–Krasovskii functional (LKF). By doing so, both the stability of the tracking error dynamics and the minimization of tracking performance are guaranteed. Also, the proposed tracking control design method is derived as a linear matrix inequality (LMI)-based optimal problem. Finally, a simulation example is provided to demonstrate the effectiveness and feasibility of the proposed design methodology. |
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