Decentralized Sampled-Data Fuzzy Tracking Control for a Quadrotor UAV with Communication Delay

Abstract

This study deals with the decentralized sampled-data fuzzy tracking control of a quadrotor unmanned aerial vehicle (UAV) considering the communication delay of the feedback signal. A decentralized Takagi–Sugeno (T–S) fuzzy approach is adopted to represent the quadrotor UAV as two subsystems: the position control system and the attitude control system. Unlike most previous studies, a novel decentralized controller considering the communication delay for the position control system is proposed. In addition, to minimize the increase in computational complexity, the Lyapunov–Krasovskii functional (LKF) is configured as the only state required for each subsystem. The design conditions guaranteeing the tracking performance of the quadrotor UAV are derived as linear matrix inequalities (LMIs) that are numerically solved. Lastly, the validity of the proposed design method is verified by comparing the results through simulation examples with and without communication delay.

A novel approach of decentralized H∞$H_{\infty }$ fuzzy filtering for nonlinear large‐scale systems with uncertain interconnections

“…Also, it can show that the results of Theorem 2 are sufficiently superior to the previous filters. Next, since two LMIs (26) and (27) of Theorem 2 are derived from different definitions of the matrix  k , it can be inferred that similar performance will be obtained, and the simulation also shows this result. Thus, when designing an extended fuzzy filter based on proposed techniques of this paper, the matrix  k can be freely defined on the development condition.…”

“…Apart from the $$H_{\infty }$$ filtering issues, as complexity increases in real world, many large‐scale systems with characteristics of interconnection have been emerged in various engineering systems [25], such as power systems [26], UAVs [27], communication networks [28] and so on. In order to effectively solve the problems of large‐scale system, such as high dimensionality, structural constraints, and uncertain interconnections, the decentralized technique is appropriate for large‐scale systems [29, 30].…”

Sampled-Data Fuzzy Fault Estimation Observer Design for Nonlinear Systems

“…In particular, these approaches have been frequently used in digital redesign [36]- [38], which has high practicality. In addition, the approximate discretization and exact discrete-time design approaches have been applied in the sampled-data fuzzy controller design of several practical applications, such as power systems [52], UAVs [53], and active suspensions [54]. Remark 10: The major contribution of this stduy is addressed as follows:…”

Quadrotor Trajectory-Tracking Control with Actuator Saturation

“…where J x , J y , and J z are the moments of inertia. In order to rewrite the dynamic model (15) as an equation of state, the state variable χ is defined as follows:…”

“…In Chen et al [12], an efficient thrust mixer was designed by reducing the priority of the yaw control, and the control allocation matrix was redesigned to deal with the problem of actuator saturation; the experimental results showed that the system performances were indeed improved. In [13][14][15], the trajectory tracking control of a quadrotor was realized by using fuzzy control.…”