Stable Control of a Small Helicopter

Abstract

This paper presents stable control of a small indoor-type helicopter only with internal sensors. We construct the nonlinear dynamic model for our small indoor-type helicopter and convert the nonlinear dynamics to a Takagi-Sugeno fuzzy model by the concept of sector nonlinearity. A stabilizing controller is designed via a fuzzy model-based control approach utilizing linear matrix inequalities (LMIs). Simulation results show the utility of our design approach.