84 research outputs found
Biomimetic-Based Output Feedback for Attitude Stabilization of Rigid Bodies: Real-Time Experimentation on a Quadrotor
International audienceThe present paper deals with the development of bounded feedback control laws mimicking the strategy adopted by flapping flyers to stabilize the attitude of systems falling within the framework of rigid bodies. Flapping flyers are able to orient their trajectory without any knowledge of their current attitude and without any attitude computation. They rely on the measurements of some sensitive organs: halteres, leg sensilla and magnetic sense, which give information about their angular velocity and the orientation of gravity and magnetic field vectors. Therefore, the proposed feedback laws are computed using direct inertial sensors measurements, that is vector observations with/without angular velocity measurements. Hence, the attitude is not explicitly required. This biomimetic approach is very simple, requires little computational power and is suitable for embedded applications on small control units. The boundedness of the control signal is taken into consideration through the design of the control laws by saturation of the actuators' input. The asymptotic stability Micromachines 2015, 6 994 of the closed loop system is proven by Lyapunov analysis. Real-time experiments are carried out on a quadrotor using MEMS inertial sensors in order to emphasize the efficiency of this biomimetic strategy by showing the convergence of the body's states in hovering mode, as well as the robustness with respect to external disturbances
Describing Robotic Bat Flight with Stable Periodic Orbits
From a dynamic system point of view, bat locomotion stands out among other forms of flight. During a large part of bat wingbeat cycle the moving body is not in a static equilibrium. This is in sharp contrast to what we observe in other simpler forms of flight such as insects, which stay at their static equilibrium. Encouraged by biological examinations that have revealed bats exhibit periodic and stable limit cycles, this work demonstrates that one effective approach to stabilize articulated flying robots with bat morphology is locating feasible limit cycles for these robots; then, designing controllers that retain the closed-loop system trajectories within a bounded neighborhood of the designed periodic orbits. This control design paradigm has been evaluated in practice on a recently developed bio-inspired robot called Bat Bot (B2)
Attitude and Position Control of a Flapping Micro Aerial Vehicle
International audienc
Uncertainty and disturbance estimator-based control of a flapping-wing aerial vehicle withwith unknown backlash-like hysteresis
Robust and accurate control of a flapping-wing aerial vehicle (FWAV) system is a challenging problem due to the existence of backlash-like hysteresis nonlinearity. This paper proposes uncertainty and disturbance estimator (UDE)-based control with output feedback for FWAV systems. The approach enables the acquisition of the approximate plant model with only a partial knowledge of system parameters. For the design of the controller, only the bandwidth information of the unknown plant model is needed, which is available through the UDE filter. The stability analysis of the closed-loop system with the UDE-based controller is presented. It is shown that the proposed control scheme can ensure the boundedness of the control signals. A number of numerical simulations are carried out to demonstrate the satisfactory trajectory tracking performance of the proposed method
Closed-Loop Perching and Spatial Guidance Laws for Bio-Inspired Articulated Wing MAV
This paper presents the underlying theoretical developments and successful experimental demonstrations of perching of an aerial robot. The open-loop lateral-directional dynamics of the robot are inherently unstable because it lacks a vertical tail for agility, similar to birds. A unique feature of this robot is that it uses wing articulation for controlling the flight path angle as well as the heading. New guidance algorithms with guaranteed stability are obtained by rewriting the flight dynamic equations in the spatial domain rather than as functions of time, after which dynamic inversion is employed. It is shown that nonlinear dynamic inversion naturally leads to proportional-integral-derivative (PID) controllers, thereby providing an exact method for tuning the gains. The effectiveness of the proposed bio-inspired robot design and its novel closed-loop perching controller has been successfully demonstrated with perched landings on a human hand
Integration of Polyimide Flexible PCB Wings in Northeastern Aerobat
The principal aim of this Master's thesis is to propel the optimization of
the membrane wing structure of the Northeastern Aerobat through origami
techniques and enhancing its capacity for secure hovering within confined
spaces. Bio-inspired drones offer distinctive capabilities that pave the way
for innovative applications, encompassing wildlife monitoring, precision
agriculture, search and rescue operations, as well as the augmentation of
residential safety. The evolved noise-reduction mechanisms of birds and insects
prove advantageous for drones utilized in tasks like surveillance and wildlife
observation, ensuring operation devoid of disturbances. Traditional flying
drones equipped with rotary or fixed wings encounter notable constraints when
navigating narrow pathways. While rotary and fixed-wing systems are
conventionally harnessed for surveillance and reconnaissance, the integration
of onboard sensor suites within micro aerial vehicles (MAVs) has garnered
interest in vigilantly monitoring hazardous scenarios in residential settings.
Notwithstanding the agility and commendable fault tolerance exhibited by
systems such as quadrotors in demanding conditions, their inflexible body
structures impede collision tolerance, necessitating operational spaces free of
collisions. Recent years have witnessed an upsurge in integrating soft and
pliable materials into the design of such systems; however, the pursuit of
aerodynamic efficiency curtails the utilization of excessively flexible
materials for rotor blades or propellers. This thesis introduces a design that
integrates polyimide flexible PCBs into the wings of the Aerobat and employs
guard design incorporating feedback-driven stabilizers, enabling stable
hovering flights within Northeastern's Robotics-Inspired Study and
Experimentation (RISE) cage.Comment: 42 pages,20 figure
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial Vehicle
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping
Wing Aerial VehicleThis paper presents both the trajectory generation and
tracking control strategies for an underactuated flapping wing aerial vehicle
(FWAV). First, the FWAV dynamics is analyzed in a practical perspective. Then,
based on these analyses, we demonstrate the differential flatness of the FWAV
system, and develop a general-purpose trajectory generation strategy.
Subsequently, the trajectory tracking controller is developed with the help of
robust control and switch control techniques. After that, the overall system
asymptotic stability is guaranteed by Lyapunov stability analysis. To make the
controller applicable in real flight, we also provide several instructions.
Finally, a series of experiment results manifest the successful implementation
of the proposed trajectory generation strategy and tracking control strategy.
This work firstly achieves the closed-loop integration of trajectory generation
and control for real 3-dimensional flight of an underactuated FWAV to a
practical level
DESIGN AND CONTROL OF A HUMMINGBIRD-SIZE FLAPPING WING MICRO AERIAL VEHICLE
Flying animals with flapping wings may best exemplify the astonishing ability of natural selection on design optimization. They evince extraordinary prowess to control their flight, while demonstrating rich repertoire of agile maneuvers. They remain surprisingly stable during hover and can make sharp turns in a split second. Characterized by high-frequency flapping wing motion, unsteady aerodynamics, and the ability to hover and perform fast maneuvers, insect-like flapping flight presents an extraordinary aerial locomotion strategy perfected at small size scales. Flapping Wing Micro Aerial Vehicles (FWMAVs) hold great promise in bridging the performance gap between engineered flying vehicles and their natural counterparts. They are perfect candidates for potential applications such as fast response robots in search and rescue, environmental friendly agents in precision agriculture, surveillance and intelligence gathering MAVs, and miniature nodes in sensor networks
Neurobiologically Inspired Control of Engineered Flapping Flight
This article presents a new control approach for engineered
flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically
inspired control systems in the form of Central Pattern Generators (CPG) to generate wing trajectories for potential flapping flight MAVs. We present a rigorous mathematical and control theoretic framework to design complex three dimensional motions of flapping wings. Most
flapping flight demonstrators are mechanically limited in generating the wing trajectories. Because CPGs lend themselves to more biological examples of flight, a novel
robotic model has been developed to emulate the flight of bats. This model has shoulder and leg joints totaling 10 degrees of freedom for control of wing properties. Results of wind tunnel experiments and numerical simulation of CPG-based flight control validate the effectiveness of the proposed neurobiologically inspired control approach
Aerial Vehicles
This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space
- …