Robust Networked Control of a Quadrotor Using Piecewise Polynomial Lyapunov Function

• Main Authors: CHIU,YU-SHAN, 邱于珊
• Other Authors: YU,GWO-RUEY
• Format: Others
• Language: en_US
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/2rhmfw

碩士 === 國立中正大學 === 光機電整合工程研究所 === 107 === In this thesis, robust polynomial fuzzy networked control systems (NCSs) based on piecewise polynomial Lyapunov functions (PPLF) are designed. Through the characteristics of the minimum-type of PPLF, the proposed robust fuzzy networked control stability conditions base on SOS are more relaxed. Additionally, the system consider external disturbances and model uncertainties at the same time, also consider the time delay and packet dropout caused by networked control in order to make the system more robust. In addition, the theorem2 is to reduce the number of fuzzy rules through the proposed polynomial fuzzy controller based on Non-PDC design, so as to shorten the microprocessor operation time. Then through the computer simulations of the Matlab Truetime2.0 toolbox, it verified that the proposed stability conditions are more relaxed than the existing stable conditions, and more effective and robust. Finally, the robust fuzzy networked controller of the designed piecewise polynomial Lyapunov function is applied to the quadrotor trajectory tracking control simulation and experiment which show the effect is better than the general Lyapunov controller.