1P1-F15 Model-based Control of a Small Indoor-type Helicopter. : Guaranteed Cost Control base on Quadratic Cost Function.
Takamichi Komatsu, Takehito Yamaguchi, Hiroshi Ohtake, Kazuo A. TANAKA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2008
This paper presents stable control of a small indoor-type helicopter only with internal sensors. The helicopter carries PSD sensors, Ultrasonic sensor and SDmotion sensor as internal sensors. We construct the nonlinear dynamic model of the small indoor-type helicopter and convert the nonlinear dynamics to a Takagi-Sugeno fuzzy model by the concept of sector nonlinearity. We design guaranteed cost controller via a fuzzy model-based control approach by utilizing linear matrix inequalities (LMIs). Simulation results show the utility of our design approach.