Bounded attitude control of a biomimetic flapping robot

Hala Rifai (1) , Nicolas Marchand (1) , Guylaine Poulin (2)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
2 G2ELab - Laboratoire de Génie Electrique de Grenoble

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.

Mots clés: bounded attitude control.; averaging; Biomimetic flight; modeling

Domaines: Automatique / Robotique

Hala Rifai, Nicolas Marchand, Guylaine Poulin. Bounded attitude control of a biomimetic flapping robot. ROBIO 2007 - IEEE International Conference on Robotics and Biomimetics, 2007, Sanya, China. ⟨10.1109/ROBIO.2007.4522125⟩. ⟨hal-00175970⟩