Nonlinear modelling and optimal control via Takagi-Sugeno fuzzy techniques: A quadrotor stabilization

Miroslav Pokorný – Tomáš Dočekal – Danica Rosinová

   Using the principles of Takagi-Sugeno fuzzy modelling allows the integration of flexible fuzzy approaches and rigorous mathematical tools of linear system theory into one common framework. The rule-based T-S fuzzy model splits a nonlinear system into several linear subsystems. Parallel distributed compensation (PDC) controller synthesis uses these T-S fuzzy model rules. The resulting fuzzy controller is nonlinear, based on fuzzy aggregation of state controllers of individual linear subsystems. The system is optimized by the linear quadratic control (LQC) method, its stability is analysed using the Lyapunov method. Stability conditions are guaranteed by a system of linear matrix inequalities (LMIs) formulated and solved for the closed loop system with the proposed PDC controller. The additional GA optimization procedure is introduced, and a new type of its fitness function is proposed to improve the closed-loop system performance.

Keywords: T-S model, PDC control, LMI approach, LQR optimization, GA method, quadrotor

[full-paper]