Decentralized Sampled-Data Fuzzy Tracking Control for a Quadrotor UAV with Communication Delay
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 pos...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-09-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/6/10/280 |
| _version_ | 1797473689001787392 |
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| author | Yong Hoon Jang Tae Joon Han Han Sol Kim |
| author_facet | Yong Hoon Jang Tae Joon Han Han Sol Kim |
| author_sort | Yong Hoon Jang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T20:20:00Z |
| format | Article |
| id | doaj.art-0248e6b250714a46b78b32f3e192408a |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-09T20:20:00Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-0248e6b250714a46b78b32f3e192408a2023-11-23T23:49:45ZengMDPI AGDrones2504-446X2022-09-0161028010.3390/drones6100280Decentralized Sampled-Data Fuzzy Tracking Control for a Quadrotor UAV with Communication DelayYong Hoon Jang0Tae Joon Han1Han Sol Kim2School of Electrical and Electronic Engineering, Yonsei University, Seoul 03722, KoreaDepartment of Control and Instrumentation Engineering, National Korea Maritime and Ocean University, Busan 49112, KoreaDepartment of Control and Instrumentation Engineering, National Korea Maritime and Ocean University, Busan 49112, KoreaThis 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.https://www.mdpi.com/2504-446X/6/10/280Takagi–Sugeno (T–S) fuzzy approachdecentralized controlsampled-data controlcommunication delayquadrotor unmanned aerial vehicle (UAV) |
| spellingShingle | Yong Hoon Jang Tae Joon Han Han Sol Kim Decentralized Sampled-Data Fuzzy Tracking Control for a Quadrotor UAV with Communication Delay Drones Takagi–Sugeno (T–S) fuzzy approach decentralized control sampled-data control communication delay quadrotor unmanned aerial vehicle (UAV) |
| title | Decentralized Sampled-Data Fuzzy Tracking Control for a Quadrotor UAV with Communication Delay |
| title_full | Decentralized Sampled-Data Fuzzy Tracking Control for a Quadrotor UAV with Communication Delay |
| title_fullStr | Decentralized Sampled-Data Fuzzy Tracking Control for a Quadrotor UAV with Communication Delay |
| title_full_unstemmed | Decentralized Sampled-Data Fuzzy Tracking Control for a Quadrotor UAV with Communication Delay |
| title_short | Decentralized Sampled-Data Fuzzy Tracking Control for a Quadrotor UAV with Communication Delay |
| title_sort | decentralized sampled data fuzzy tracking control for a quadrotor uav with communication delay |
| topic | Takagi–Sugeno (T–S) fuzzy approach decentralized control sampled-data control communication delay quadrotor unmanned aerial vehicle (UAV) |
| url | https://www.mdpi.com/2504-446X/6/10/280 |
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