A Simple, Natural and Effective Framework of Nonlinear Systems Control and its Application to Aerial Robots | Zendy

Motoyasu Tanaka | Zendy; Hiroshi Ohtake | Zendy; Kazuo Tanaka | Zendy

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A Simple, Natural and Effective Framework of Nonlinear Systems Control and its Application to Aerial Robots

Author(s) -

Motoyasu Tanaka,

Hiroshi Ohtake,

Kazuo Tanaka

Publication year - 2014

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2014.p0140

Subject(s) - robot , simple (philosophy) , computer science , nonlinear system , control (management) , control engineering , feature (linguistics) , control theory (sociology) , fuzzy control system , fuzzy logic , artificial intelligence , engineering , philosophy , physics , epistemology , quantum mechanics , linguistics

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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