Arash Badami - Department of Control Engineering, Islamic Azad University Science and Research Branch, Tehran, Iran.
Sayed Majid Hosseini - Department of Mechanical Engineering, Khajeh Nasir Toosi University, Tehran, Iran.

In this paper, position control of the CE150 helicopter using polynomial fuzzy controller based on sum of squares approach is considered. The nonlinear dynamic of the CE150 helicopter is represented by polynomial fuzzy system. This framework provides a number of improvements over Takagi-Sugeno fuzzy model. The polynomial fuzzy controller is proposed to track the desired position using the system state information. The Lyapunov function method is employed to investigate the error stability of the closed loop nonlinear system based on sum of squares approach. In addition, the design conditions are numerically solved via the recent developed SOSTOOLS and a semidefinite program (SDP) solver, respectively. Simulation results are presented to demonstrate the validity of the proposed controller.

polynomial fuzzy model, sum of squares approach, polynomial fuzzy controller, Lyapunov function, CE150 helicopter.