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1、The4thAnnualIEEEInternationalConferenceonCyberTechnologyinAutomation,ControlandIntelligentSystemsJune4-7,2014,HongKong,ChinaFuzzyModelingandControlForANonlinearQuadrotorUnderNetworkEnvironmentFeiHan,GangFeng,YongWangandFanZhouAbstract—ThispaperconsidersthefuzzymodelingandH∞Inthemeantime,th
2、equadrotordynamicisnonlinear,whichstatefeedbackcontrolfornetwork-basedquadrotorunderun-makesitdifficulttodesignthecorrespondingcontrollertoreliablecommunicationlinks,andtherearedelaysandpacketstabilizethequadrotor.Mostoftheexistingworksutilizedropoutsthroughoutthetransmission.Thenonlinearqu
3、adrotoralinearizedmodelattheoperatingpointanddesigntheinthispaperisfirstlyapproximatedbyaTakagi-Sugeno(T-S)correspondinglinearcontroller[7]-[9].However,thismethodfuzzymodel.Thenetwork-induceddelaysandpacketdropoutsinwillleadtolargemodelerrorsandlowersystemperformancebothsensor-to-controller
4、(S/C)andcontroller-to-actuator(C/A)whenthequadrotorsystemevolvesattheotheroperatingchannelsaremodeledinaunifiedframework.Thenafuzzycontrollerisdesignedsothattheresultingclosed-loopquadrotorpoints.Therefore,toaddressthisproblem,anonlinearcon-systemisasymptoticallystablewithguaranteedH∞perfor
5、mance.trollerdesignmethodbasedonthenonlinearmodeloftheFinally,asimulationisgiventoillustratedtheprocedureofthequadrotorisdesirable.Recently,T-Sfuzzymodelshavebeenproposedapproach.widelystudied,becausetheyprovideapowerfulmethodforsystematicstabilityanalysisandsynthesisofsomenonlinearI.INTRO
6、DUCTIONsystems[10].ItisprovedthatT-SfuzzysystemsarecapabletoapproximateanysmoothnonlinearsystemtoanyaccuracyInrecentdecades,greatefforthasbeendevotedtotheonacompactset[11].controlofquadrotoraircrafts[1]-[3].AquadrotorisakindofUnmannedAerialVehicle(UAV)withfourpropellerunitsToourbestknowled
7、ge,therearefewresultsconsider-whichlocatedinfoursymmetricalpositions.Theyareabletoingthenonlinearcontrollerdesignmethodofanonlineartakeoffandlandverticallywithoutanyairstrip,andtheycanquadrotorundernetworkenvironment,whichmotivatesourhoverintheairwithoutdifficu
