A practical design approach to stabilization of a 3-DOF RC helicopter

IEEE Transactions on Control Systems Technology

Volumn 12, Issue 2, 2004, Pages 315-325

  Tanaka, Kazuo ^a   Ohtake, Hiroshi ^a   Wang, Hua O ^b  

^a UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

^b BOSTON UNIVERSITY   (United States)

Author keywords

Fuzzy control; Linear matrix inequality (LMI); Parallel distributed compensation; Stabilization; Three degrees of freedom (3 DOF) helicopter.

Indexed keywords

COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); FUZZY CONTROL; HELICOPTERS; LINEAR CONTROL SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS); SPEED CONTROL; SYSTEM STABILITY;

LINEAR MATRIX INEQUALITY; PARALLEL DISTRIBUTED COMPENSATION; THREE DEGREES OF FREEDOM HELICOPTER;

CONTROL SYSTEM SYNTHESIS;

EID: 1942536175     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2003.821963     Document Type: Article

References (20)

1. K. Tanaka and M. Sugeno, "Stability analysis of fuzzy systems using Lyapunov's direct method," in Proc. NAFIPS'90, Toronto, ON, Canada, June 1990, pp. 133-136.
2. R. Langari and M. Tomizuka, "Analysis and synthesis of fuzzy linguistic control systems," in Proc. ASME Winter Annu. Meeting, Dallas, TX, Nov. 1990, pp. 35-42.
3. S. Kitamura and T. Kurozumi, "Extended circle criterion and stability analysis of fuzzy control systems," in Proc. Int. Fuzzy Eng. Symp.'91, vol. 2, Yokohama, Japan, Nov. 1991, pp. 634-643.
4. K. Tanaka and M. Sugeno, "Stability analysis and design of fuzzy control system," Fuzzy Sets Syst., vol. 45, pp. 135-156, 1992.
5. S. S. Farinwata et al., "Stability analysis of the fuzzy logic controller designed by the phase portrait assignment algorithm," in Proc. 2nd IEEE Int. Conf. Fuzzy Systems, San Francisco, CA, Apr. 1993, pp. 1377-1382.
6. D. Filev, "Algebraic design of fuzzy logic controllers," in Proc. IEEE Int. Symp. Intelligent Control, Dearborn, MI, Sept. 1996, pp. 253-258.
7. H. O. Wang, K. Tanaka, and M. Griffin, "Parallel distributed compensation of nonlinear systems by Takagi and Sugeno's fuzzy model," in Proc. FUZZ-IEEE'95, Yokohama, Japan, Mar. 1995, pp. 531-538.
8. ____, "An approach to fuzzy control of nonlinear systems: Stability and design issues," IEEE Trans. Fuzzy Syst., vol. 4, pp. 14-23, Feb. 1996.
9. K. Tanaka, T. Ikeda, and H. O. Wang, "Robust stabilization of a class of uncertain nonlinear system via fuzzy control," IEEE Trans. Fuzzy Syst., vol. 4, pp. 1-13, Feb. 1996.
10. T. Takagi and M. Sugeno, "Fuzzy identification of systems and its applications to modeling and control," IEEE Trans. Syst. Man Cybern., vol. 15, pp. 116-132, Feb. 1985.
11. M. Sugeno et al., "Intelligent control of an unmanned helicopter based on fuzzy logic," presented at the Proc. Amer. Helicopter Society 51st Annu. Forum, Fort Worth, TX, May 1995.
12. M. Sugeno, "Development of an intelligent unmanned helicopter," in Fuzzy Modeling and Control: Selected Works of M. Sugeno, H. T. Nguyen and N. R. Prasad, Eds. Boca Raton, FL: CRC, 1999.
13. D. Zhang, G. Chen, and H. A. Malki, "Fuzzy-logic control of multi-link flexible-joint robotic manipulators," Int. J. Intell. Control Syst., vol. 2, no. 1, pp. 111-138, 1998.
14. J. Carvajal, G. Chen, and H. Ogmen, "Fuzzy PID controller: Design performance evaluation, and stability analysis," Inform. Sci., vol. 123, pp. 249-270, 2000.
15. L. Wang and R. Langari, "Building Sugeno-type models using fuzzy discretization and orthogonal parameter estimation techniques," IEEE Trans. Fuzzy Syst., vol. 3, pp. 454-458, Nov. 1995.
16. ∞ performance," in FUZZ-IEEE'98, Anchorage, AK, May 1998, pp. 422-427.
17. K. Tanaka, T. Ikeda, and H. O. Wang, "Fuzzy regulators and fuzzy observers: Relaxed stability conditions and LMI based designs," IEEE Trans. Fuzzy Syst., vol. 6, pp. 250-265, May 1998.
18. K. Tanaka and H. Ohtake, "Stable control for R/C helicopter," in Proc. Joint 9th IFSA World Congress and 20th NAFIPS Int. Conf., Vancouver, Canada, July 2001, pp. 2056-2061.
19. K. Tanaka and H. O. Wang, Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach. New York: Wiley, 2001.
20. T. T. Taniguchi et al., "Model construction, rule reduction and robust compensation for generalized form of Takagi-Sugeno fuzzy systems," IEEE Trans. Fuzzy Syst., vol. 9, pp. 525-538, Aug. 2001.