<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></abstract>

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.

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

FEI, Department. of Cybernetics and Biomedical Engineering

Slovak University of Technology in Bratislava

FEI, Institute of Automotive Mechatronics

Journal of Electrical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Using the principles of Takagi-Sugeno fuzzy modelling allows the integration of flexible fuzzy approaches and rigorous mathematical tools of linear system...

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

Published Online: Mar 20, 2020

Page range: 1 - 10

Received: Dec 28, 2019

DOI: https://doi.org/10.2478/jee-2020-0001

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

© 2020 Miroslav Pokorný et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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

Published Online: Mar 20, 2020

Page range: 1 - 10

Received: Dec 28, 2019

DOI: https://doi.org/10.2478/jee-2020-0001

KeywordsT-S model, PDC control, LMI approach, LQR optimization, GA method, quadrotor

© 2020 Miroslav Pokorný et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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