Fuzzy modeling and control for a nonlinear quadrotor under network environment

Abstract

This paper considers the fuzzy modeling and H∞ state feedback control for network-based quadrotor under unreliable communication links, and there are delays and packet dropouts throughout the transmission. The nonlinear quadrotor in this paper is firstly approximated by a Takagi-Sugeno (T-S) fuzzy model. The network-induced delays and packet dropouts in both sensor-to-controller (S/C) and controller-to-actuator (C/A) channels are modeled in a unified framework. Then a fuzzy controller is designed so that the resulting closed-loop quadrotor system is asymptotically stable with guaranteed H∞ performance. Finally, a simulation is given to illustrated the procedure of the proposed approach.