A Simple, Natural and Effective Framework of Nonlinear Systems Control and its Application to Aerial Robots
Motoyasu Tanaka*, Hiroshi Ohtake**, and Kazuo Tanaka*
*The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan
**Kyushu Institute of Technology, 680-4 Kawatsu, Izuka, Fukuoka 820-8502, Japan
This paper presents a simple, natural and effective framework of nonlinear systems control and its application to aerial robots. First, we present a framework of Takagi-Sugeno fuzzy model-based control and also discuss its feature. Next, a number of design problems for the control framework are formulated as numerically feasibility problems of representing in terms of linear matrix inequalities. Finally, we provide two applications of the control framework to aerial robots. The control results of aerial robots show the utility of the control framework.
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