Integral Fuzzy Regulation Control for a Micro Unmanned Helicopter

Abstract

This paper proposes an integral fuzzy control strategy to solve output regulation problem for the micro unmanned helicopter. In order to eliminate the system's bias and guarantee the zero-offset output regulation performance, we firstly take coordinate translation at equilibrium point and introduce an added integral state of output regulation error, and then the resulting augmented system is represented into a Takagi-Sugeno fuzzy model. Next, utilizing parallel distributed compensation (PDC) technique and direct Lyapunov method, an integral state feedback control law for output regulation is established by solving a set of linear matrix inequalities (LMIs). Moreover, the proposed controller design has following merits: i) capability to dealing with nonlinear affine system; ii) giving the exponential stability in the presence of model uncertainty; iii) possessing a piecewise constant output regulation performance. Finally, a micro unmanned helicopter dynamic model is presented to demonstrate the validity of the proposed integral fuzzy controller.