Tracking control of a quad-rotor UAV based on T — S fuzzy model

Abstract

In this paper, a fuzzy tracking control strategy for a quad-rotor unmanned aerial vehicle (UAV) with strongly coupling is put forward based on the Takagi-Sugeno(T — S) fuzzy error model. Firstly, The quad-rotor system is divided into altitude subsystem, position subsystem and attitude subsystem, selecting appropriate premise variables, the attitude, altitude and position T — S fuzzy error models are given based on the quad-rotor error dynamic model, and weighting functions and membership functions can be obtained. Then, fuzzy state feedback controllers are designed to stabilize T — S fuzzy subsystems, according to the Lyapunov stability theorem, the LMI sufficient conditions of exponential stability for T — S fuzzy closed-loop subsystems are obtained, and the gain matrices of controller are presented. Finally, simulation results are given to confirm the advantages of the proposed control method, compared with the inner-and outer-loop state feedback control method.