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

Micromachines

José Fermi Guerrero-Castellanos²  Hala Rifaï⁵  Nicolas Marchand¹  Rafael Cruz-José⁴  Samer Mohammed⁵  W. Fermín Guerrero-Sánchez⁴  Gerardo Mino-Aguilar²  Naser El-Sheimy³ 

[1] GIPSA-lab - Control Systems Department, University of Grenoble/CNRS, 11 rue des Mathématiques, BP46, 38402 Saint Martin d’Hères, France; E-Mail:;Faculty of Electronics, Autonomous University of Puebla (BUAP), Ciudad Universitaria, Puebla 72570, Mexico; E-Mail:;Faculty of Electronics, Autonomous University of Puebla (BUAP), Ciudad Universitaria, Puebla 72570, Mexico; E-Mail;Faculty of Physics and Mathematics, Autonomous University of Puebla (BUAP), Ciudad Universitaria, Puebla 72570, Mexico; E-Mails:;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; E-Mails:

关键词: biomimetic attitude stabilization;    MEMS inertial sensors;    bounded control;    output feedback;    flapping flyers;    quadrotor unmanned aerial vehicles (UAVs);   

DOI  :  10.3390/mi6080993

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.