Biomimetic-Based Output Feedback for Attitude Stabilization of a Flapping-wing Micro Aerial Vehicle

Hala Rifai (1) , Fermi Guerrero-Castellanos (2) , Nicolas Marchand (3) , Guylaine Poulin (4)

1 LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
2 FCE BUAP - Facultad de Ciencias de la Electrónica [Puebla]
3 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
4 GREMAN - UMR 7347 - GREMAN (matériaux, microélectronique, acoustique et nanotechnologies)

The paper deals with the development of a bounded control law for apping micro aerial vehicles (FMAVs) that mimics the strategy adopted by insects to stabilize their orientation. The control law allows a wings' angles modulation by means of a body control torque. It is computed using the direct measurements of on-board sensors with functions analog to the halteres, legs sensilla and magnetic sense of insects. The stability of the control law is proved based on Lyapunov analysis and averaging theory. It is shown in simulations on a diptera model. The robustness with respect to external disturbances is also shown emphasizing the importance of the bounded control.

Domaines: Micro et nanotechnologies/Microélectronique; Energie électrique; Acoustique [physics.class-ph]

Hala Rifai, Fermi Guerrero-Castellanos, Nicolas Marchand, Guylaine Poulin. Biomimetic-Based Output Feedback for Attitude Stabilization of a Flapping-wing Micro Aerial Vehicle. Robotica, 2013, 31 (6), pp.955-968. ⟨10.1017/S0263574713000209⟩. ⟨hal-00728410⟩