Trajectory tracking for a quadrotor via fuzzy regulation
作者： Bernardino Castillo-Toledo , Stefano Di Gennaro , Francisco Jurado
DOI:
关键词: Control engineering 、 Parametric statistics 、 Engineering 、 Regulator 、 Control theory 、 Aerodynamics 、 Stability conditions 、 Nonnegative matrix 、 Robustness (computer science) 、 Six degrees of freedom 、 Fuzzy logic
摘要: In this paper a fuzzy regulator based on local linear controllers is implemented in order to solve the trajectory tracking problem for Takagi-Sugeno model of six degrees freedom quadrotor. Global stability conditions closed-loop system are guaranteed by design state-feedback parallel distributed compensator, which common definite positive matrix determined. The robustness proposed controller against un-modeled parametric uncertainties or environmental disturbances (wind, turbulence, etc.) tested simulations.
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