Abdul-Wahid A. Saif1, Mohammad Ataur-Rahman1, Sami Elferik1, Muhammad F. Mysorewala1, Mujahed Al-Dhaifallah1,*, Fouad Yacef2
Intelligent Automation & Soft Computing, Vol.27, No.3, pp. 817-834, 2021, DOI:10.32604/iasc.2021.015932
Abstract In this paper, the formation control problem of a group of unmanned air vehicle (UAV) quadrotors is solved using the Takagi–Sugeno (T–S) multi-model approach to linearize the nonlinear model of UAVs. The nonlinear model sof the quadrotor is linearized first around a set of operating points using Taylor series to get a set of local models. Our approach’s novelty is in considering the difference between the nonlinear model and the linearized ones as disturbance. Then, these linear models are interpolated using the fuzzy T–S approach to approximate the entire nonlinear model. Comparison of the nonlinear and the T–S model shows… More >
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