Path Tracking Stabilization of Unmanned Aerial Vehicles via Rational Polynomial Fuzzy Control

Abstract

This paper presents a path tracking stabilization control approach to unmanned aerial vehicles (UAVs) via rational polynomial fuzzy control. First, we provide a fuzzy polynomial model that is perfectly equivalent to UAV kinematics in wind environment. Next, we derive sum-of-squares (SOS) design conditions for the proposed rational polynomial fuzzy controller avoiding the real actuator saturation. The designed rational polynomial fuzzy controller realizes flight path tracking stabilization satisfying the real actuator constraint. Finally, simulation experiments are demonstrated to verify the effectiveness of the proposed design method.