Fuzzy Control of a Quadrotor for Reconstructed States Feedback Using Multiobserver

Abstract

A type of aircraft that is currently being very reference in the area of ​​control is the quadrotor helicopter, compared to other UAV's (Unmanned Aerial Vehicles UAV's-) has been of great interest for the research groups. Principally were developed for military applications. However, UAVs don’t have only military use, also civilian use and it is in this last field that can have multiple applications. The State variables of the system obtained are, however, in the most general case, internal operation of the system variables whose values ​​can’t be measured directly on physical quantities. An observer is used for to reconstruct partially or completely the state vector of a system from the known inputs, outputs and the dynamic model of this. The reconstruction and calculation of the state variables is performed in a system known as Multiobserver. Applying the fuzzy representation of type Takagi-Sugeno, also known as multi-model [1], in dynamic model of the quadrotor and developing an algorithm based in law control for reconstructed states feedback, the vehicle is stabilized.