SYSTEM AND METHOD FOR CONTROLLING QUADROTOR BASED ON FUZZY MODEL

摘要

The present technology discloses a fuzzy model-based quadrotor control system and method. After designing the state equations of each thruster for the dynamic equations and control inputs built according to a specific embodiment of the present technology, nonlinear terms included in the designed state equations are derived through TS fuzzy modeling, and the derived state equations It is exponentially stable based on the Lyapunov stability condition, and then determines the state variable through numerical solution to the linear matrix inequality.It is compared to the conventional method of performing TS fuzzy modeling for the entire global dynamics equation to perform TS fuzzy modeling. It can reduce computational complexity.