Attitude Stabilization of a Biologically Inspired Robotic Housefly via Dynamic Multimodal Attitude Estimation

Campolo, Domenico; Barbera, Giovanni; Schenato, Luca; Pi, Lijuan; Deng, Xinyan; Guglielmelli, Eugenio

doi:10.1163/016918609x12529306840253

Cited by 12 publications

(14 citation statements)

References 28 publications

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“…Consider the rigid body rotational dynamics described by Equations (1) and (2). The attitude error between current and desired orientations is defined by Equation (6) with n ≥ 2.…”

Section: Bounded Attitude Control With Vector Observations and Angulamentioning

confidence: 99%

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Biomimetic-Based Output Feedback for Attitude Stabilization of Rigid Bodies: Real-Time Experimentation on a Quadrotor

et al. 2015

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The 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.

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“…Consider the rigid body rotational dynamics described by Equations (1) and (2). The attitude error between current and desired orientations is defined by Equation (6) with n ≥ 2.…”

Section: Bounded Attitude Control With Vector Observations and Angulamentioning

confidence: 99%

“…Then, one has the following result: Theorem 2. Consider the rigid body rotational dynamics described by Equations (1) and (2). The attitude error between current and desired orientations γ is computed through Equation (6).…”

Section: Attitude Stabilization With Vector Observations and Without mentioning

confidence: 99%

Biomimetic-Based Output Feedback for Attitude Stabilization of Rigid Bodies: Real-Time Experimentation on a Quadrotor

et al. 2015

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“…A state feedback attitude controller control scheme using the sensor output as feedback was designed by Schenato et al [10]. Campolo et al realized in [11] a geometric approach to robust attitude estimation, derived from multiple and possibly redundant bio-inspired navigation sensors, for attitude stabilization of a micromechanical flying insect.…”

Section: Introductionmentioning

confidence: 99%

Robust Linear Longitudinal Feedback Control of a Flapping Wing Micro Air Vehicle

Belmonte

Morales

Fernández-Caballero

et al. 2015

Artificial Computation in Biology and Medicine

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Abstract. This paper falls under the idea of introducing biomimetic miniature air vehicles in ambient assisted living and home health applications. The concepts of active disturbance rejection control and flatness based control are used in this paper for the trajectory tracking tasks in the flapping-wing miniature air vehicle (FWMAV) time-averaged model. The generalized proportional integral (GPI) observers are used to obtain accurate estimations of the flat output associated phase variables and of the time-varying disturbance signals. This information is used in the proposed feedback controller in (a) approximate, yet close, cancelations, as lumped unstructured time-varying terms, of the influence of the highly coupled nonlinearities and (b) the devising of proper linear output feedback control laws based on the approximate estimates of the string of phase variables associated with the flat outputs simultaneously provided by the disturbance observers. Numerical simulations are provided to illustrate the effectiveness of the proposed approach.

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“…In (Epstein et al 2007), halteres measurements are used to estimate the pitch rate and stabilize the corresponding angle with a proportional derivative controller with pole placement. Rate gyros, accelerometer and magnetometer sensors, representing respectively the halteres, legs sensilla and magnetic compass, are used in (Campolo et al 2009) to estimate the insect's attitude (rotation matrix), used after, along with angular velocity measurement, in a state feedback control law. One should emphasize that, in the aforementioned works, the proposed linear control laws cannot be sufficiently robust with respect to external disturbances representing wind for example.…”

Section: Introductionmentioning

confidence: 99%

Biomimetic-based output feedback for attitude stabilization of a flapping-wing micro aerial vehicle

Rifaï¹,

Guerrero-Castellanos

Marchand

et al. 2013

Robotica

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The paper deals with the development of a bounded control law for Flappingwing Micro Aerial Vehicles (FMAVs) that mimics a strategy adopted by animal flapping flyers to stabilize their orientation. The control consists on generating torques about the body's principal axes by means of a modulation of the wing angle amplitudes. It is known that flapping flyers orient their body without any numerical computation or estimation of their current attitude. Therefore, the proposed control law is computed using the direct measurements of on-board sensors mimicking animal sensitive organs, more specifically the halteres, legs sensilla and magnetic sense. The technological equivalents of these biological sensors are respectively three rate gyros, a tri-axis accelerometer and a tri-axis magnetometer. Besides, the control signal is bounded to keep the wing angle amplitudes below the maximal values. Owing to its simplicity, this control law is suitable for applications where on-board computational resources are limited. The stability of the closed loop system is proved based on Lyapunov analysis and averaging theory. The effectiveness of the proposed control law is shown in simulations. The robustness with respect to external disturbances is also shown emphasizing the importance and need of the bounded control.

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Attitude Stabilization of a Biologically Inspired Robotic Housefly via Dynamic Multimodal Attitude Estimation

Cited by 12 publications

References 28 publications

Biomimetic-Based Output Feedback for Attitude Stabilization of Rigid Bodies: Real-Time Experimentation on a Quadrotor

Biomimetic-Based Output Feedback for Attitude Stabilization of Rigid Bodies: Real-Time Experimentation on a Quadrotor

Robust Linear Longitudinal Feedback Control of a Flapping Wing Micro Air Vehicle

Biomimetic-based output feedback for attitude stabilization of a flapping-wing micro aerial vehicle

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