Robust Controller Design for Flapping-Wing Micro Aerial Vehicles Based on a T-S Fuzzy Approach

This paper investigates a robust Takagi-Sugeno (T-S) fuzzy controller for flapping-wing micro aerial vehicles (FWMAVs) subject to actuator saturation, wingbeat-induced time-varying components, and external disturbances. To this end, we represent the longitudinal dynamics of FWMAVs with a T-S fuzzy model that captures linear time-varying parameters. Unlike the conventional altitude-attitude double-loop structure, this paper proposes an architecture specifically designed for underactuated FWMAVs, enabling the T-S fuzzy controller to simultaneously control vertical position and pitch angle. Furthermore, building on the coupling among longitudinal dynamics and aerodynamic forces and moment, this paper develops a novel dynamic inversion scheme to map the T-S fuzzy control input to actuator commands. Then, by exploiting the mismatch between the current and subsequent fuzzy basis functions (FBFs), we introduce a relaxation that incorporates additional slack variables into the stabilization conditions, thereby enlarging the feasible set of the resulting linear matrix inequality (LMI) conditions. Finally, numerical comparisons and simulations on FWMAVs verify the reduced conservatism and effectiveness of the proposed method.*This dataset provides the MATLAB\/Simulink simulation files.