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
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;
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
DOI :
10.1109/ROBIO.2007.4522125
