This paper presents a comparison result of micro helicopter control via a typical linear matrix inequality (LMI) approach and a sum of squares (SOS) approach. First we construct a dynamical model of a micro helicopter and convert it to a Takagi-Sugeno fuzzy model. Next, this paper summarizes a recent developed SOS design approach for polynomial fuzzy control systems based on polynomial Lyapunov functions. We emphasize that the SOS design approach to polynomial fuzzy control systems is more general than that based on the existing LMI design approaches to T-S fuzzy control systems. The control results of a micro helicopter show that the SOS design approach provides better control results than the LMI design approach.
['Kazuo Tanaka', 'Takamichi Komatsu', 'Hiroshi Ohtake', 'Hua O. Wang']
Micro helicopter control: LMI approach vs SOS approach