Abstract
In this paper, we deal with the position control of the quad rotor. It is possible to divide the overall quadrotor system into position, altitude, and attitude subsystems. If we divide the overall system, then each subsystem is organically connected. For the position control of the quad rotor, dynamics of each subsystem is first derived, and obtained nonlinear dyanmics are converted the Takagi-Sugeno fuzzy model. Furthermore, a robust control techniques will be proposed to handle the parameters uncertainty contained in each subsystem. Conventional robust fuzzy controller did not take into account the decay rate, but the proposed method concerns about the decay rate so that the system will converge faster. Finally, to verify the validity of the proposed method, simulation example is given in this paper.
| Original language | English |
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| Pages | 2542-2547 |
| Number of pages | 6 |
| Publication status | Published - 2013 |
| Event | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan Duration: 2013 Sept 14 → 2013 Sept 17 |
Other
| Other | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 |
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| Country/Territory | Japan |
| City | Nagoya |
| Period | 13/9/14 → 13/9/17 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering