| Title |
Sampled-data Fuzzy State Regulator Design for a Quadrotor Under the State Quantization Consideration |
| Authors |
한태준(Tae Joon Han) ; 안지호(Ji Ho An) ; 김한솔(Han Sol Kim) |
| DOI |
https://doi.org/10.5370/KIEE.2022.71.1.173 |
| Keywords |
Quadrotor; Sampled-data control; Lyapunov-Krasovskii functional; Linear matrix inequality; Quantization |
| Abstract |
In this paper, a method to design a sampled-data fuzzy regulator is proposed under state quantization. To this end, the attitude and altitude systems of a quadrotor are represented as the Takagi-Sugeno (T-S) fuzzy model. And then, the state regularization condition of each system are derived in the form of the linear matrix inequality (LMI) based on the Lyapunov-Krasovskii functional (LKF).
When deriving the condition, we use the robust control technique to handle the uncertainties raised by the state quantization. Finally, the effectiveness of the proposed method is validated through the simulation example. |