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영어

This paper considers the fuzzy modeling and robust fuzzy variable control for quadrotor in uncertain environment. The nonlinear system of quadrotor is firstly analyzed in this paper by utilizing laws of motion and force. Then, a Takagi-Sugeno (T-S) fuzzy model is achieved to approximate the system. LMI method is used to acquire an improved sliding surface. On this basis, a fuzzy variable structure controller is designed to force the system state trajectory toward sliding surface and maintain on it then. The controller ensures the resulting closed-loop quadrotor system is asymptotically stable. Finally, a simulation is shown to verify the effectiveness of the proposed algorithm.