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Micromachines 2015, 6(8), 993-1022; doi:10.3390/mi6080993

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

1
Faculty of Electronics, Autonomous University of Puebla (BUAP), Ciudad Universitaria, Puebla 72570, Mexico
2
Laboratory of Image, Signal and Intelligent System (LISSI), University of Paris-Est Creteil Val de Marne (UPEC), 122 Rue Paul Armangot, 94400 Vitry S/Seine, France
3
GIPSA-lab - Control Systems Department, University of Grenoble/CNRS, 11 rue des Mathématiques, BP46, 38402 Saint Martin d’Hères, France
4
Faculty of Physics and Mathematics, Autonomous University of Puebla (BUAP), Ciudad Universitaria, Puebla 72570, Mexico
*
Author to whom correspondence should be addressed.
Academic Editors: Naser El-Sheimy and Aboelmagd Noureldin
Received: 1 June 2015 / Revised: 15 July 2015 / Accepted: 21 July 2015 / Published: 5 August 2015
(This article belongs to the Special Issue Next Generation MEMS-Based Navigation—Systems and Applications)
View Full-Text   |   Download PDF [6897 KB, uploaded 5 August 2015]   |  

Abstract

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 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. View Full-Text
Keywords: biomimetic attitude stabilization; MEMS inertial sensors; bounded control; output feedback; flapping flyers; quadrotor unmanned aerial vehicles (UAVs) biomimetic attitude stabilization; MEMS inertial sensors; bounded control; output feedback; flapping flyers; quadrotor unmanned aerial vehicles (UAVs)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Guerrero-Castellanos, J.F.; Rifaï, H.; Marchand, N.; Cruz-José, R.; Mohammed, S.; Guerrero-Sánchez, W.F.; Mino-Aguilar, G. Biomimetic-Based Output Feedback for Attitude Stabilization of Rigid Bodies: Real-Time Experimentation on a Quadrotor. Micromachines 2015, 6, 993-1022.

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