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JRM Vol.26 No.2 pp. 140-147
doi: 10.20965/jrm.2014.p0140
(2014)

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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

Received:
August 20, 2013
Accepted:
February 16, 2014
Published:
April 20, 2014
Creative Commons License
Keywords:
nonlinear control, linear matrix inequality, aerial robots, Takagi-Sugeno fuzzy model
Abstract
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.
Cite this article as:
M. Tanaka, H. Ohtake, and K. Tanaka, “A Simple, Natural and Effective Framework of Nonlinear Systems Control and its Application to Aerial Robots,” J. Robot. Mechatron., Vol.26 No.2, pp. 140-147, 2014.
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