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Erschienen in:
Critical Review and Progress of Adaptive Controller Design for Robot Arms Kapitel lesen Erstes Kapitel lesen

2017 | OriginalPaper | Buchkapitel

Robust Gust Rejection on a Micro-air Vehicle Using Bio-inspired Sensing

verfasst von : William A. Dean, Badri N. Ranganathan, Ivan Penskiy, Sarah Bergbreiter, J. Sean Humbert

Erschienen in: Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Verlag: Springer International Publishing

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Abstract

Growing demand for robust, low-computation sensing and control of micro-air vehicles motivates development of new technology. A MEMS wind flow sensor was previously developed at the University of Maryland, drawing inspiration from setae structures seen in biology. In this work this sensor is integrated onto a quadrotor platform and utilized for sensing a gust perturbation. Suitable signal processing methods were used to isolate the gust-related perturbation from other ambient fluctuations affecting the sensor. The problem of gust rejection is then formulated using standard tools from robust control theory and a controller is obtained using μ–synthesis. Theoretical analysis of the μ controller’s performance improvement is carried out with simulations. A robustly stable controller was implemented on a quadrotor micro-air vehicle to improve lateral state regulation in the presence of a lateral gust stream. Flight testing revealed attenuation of the lateral velocity and perturbation from the projected path.

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Vorheriges Kapitel Stiffness Analysis and Optimization for a Bio-inspired 3-DOF Hybrid Manipulator
Nächstes Kapitel Development of Guidance, Navigation and Control System Using FPGA Technology for an UAV Tricopter
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Metadaten
Titel
Robust Gust Rejection on a Micro-air Vehicle Using Bio-inspired Sensing
verfasst von
William A. Dean
Badri N. Ranganathan
Ivan Penskiy
Sarah Bergbreiter
J. Sean Humbert
Copyright-Jahr
2017
Buch
Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Print ISBN: 978-3-319-33580-3

Electronic ISBN: 978-3-319-33581-0

Copyright-Jahr: 2017

DOI
https://doi.org/10.1007/978-3-319-33581-0_27

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