DocumentCode
3447635
Title
Bounded attitude control of a biomimetic flapping robot
Author
Rifaï, Hala ; Marchand, Nicolas ; Poulin, Guylaine
Author_Institution
Control Syst. Dept., INPG-UJF, St. Martin d´´Heres
fYear
2007
fDate
15-18 Dec. 2007
Firstpage
1
Lastpage
6
Abstract
Flapping micro Unmanned Air Vehicles (UAVs) can be considered as high frequency periodic systems. Based on the averaging theory, only the mean aerodynamic forces and torques over a wingbeat affect the movement of the body. Therefore, a nonlinear bounded state feedback control law is calculated upon the averaged model and applied to the time varying system represented by the flapping body in order to stabilize its attitude.
Keywords
attitude control; biomimetics; remotely operated vehicles; biomimetic flapping robot; bounded attitude control; flapping micro unmanned air vehicles; high frequency periodic systems; time varying system; Actuators; Aerodynamics; Attitude control; Biomimetics; Insects; Optimal control; Robots; Sliding mode control; State feedback; Unmanned aerial vehicles; Biomimetic flight; averaging; bounded attitude control; modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location
Sanya
Print_ISBN
978-1-4244-1761-2
Electronic_ISBN
978-1-4244-1758-2
Type
conf
DOI
10.1109/ROBIO.2007.4522125
Filename
4522125
Link To Document