A Decentralized Fuzzy Controller for Experimental Nonlinear Helicopter Systems

헬리콥터 시스템의 퍼지 분산 제어기 설계

This paper proposes a decentralized control technique for 2-dimensional experimental helicopter systems. The decentralized control technique is especially suitable in large-scale control systems. We derive the stabilization condition for the interconnected Takagi-Sugeno (75) fuzzy system using the rigorous tool - Lyapunov stability criterion and formulate the controller design condition in terms of linear matrix inequality (LMI). To demonstrate the feasibility of the proposed method, we include the experiment result as well as a computer simulation one, which strongly convinces us the applicability to the industry.