Abstract
This paper is concerned with the optimization guaranteed cost fuzzy control for a quad-rotor UAV with prescribed $H_{\infty }$ performance index, to achieve the tracking of desired trajectory. Firstly, the quad-rotor UAV is divided into altitude, position and attitude three subsystems. It adoptes the the interval matrix to describe the uncertainties in lift coefficient, drag coefficient and moments of inertia. Then a sufficient condition is designed to guarantee the closed-loop system asymptotically stable with optimization cost function. Moreover, at the condition of prescribed $H_{\infty }$ performance index, a convex optimization problem is formulated to obtain the fuzzy tracking control law of the optimization guaranteed cost $H_{\infty }$ fuzzy tracking controller (OGCHC). Simulation results are presented to demonstrate the effectiveness and advantages of the proposed control strategy.
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