Biomimetic Approach for Attitude Stabilization of a Flapping Micro Aerial Vehicle using Sensors Measurements

Hala Rifai (1) , Fermi Guerrero Castellanos (2) , Nicolas Marchand (3)

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

The work proposed in this paper concerns the attitude stabilization of a FMAV by means of a control torque that uses direct sensors measurement without the computation of the bodies angles. Moreover, the control is bounded in order to take into account the bounds of the wings angles amplitudes. It is independent of the body's inertia and has a low computational cost. Future works will consider the development of bounded control force aiming to control the MAV's trajectory based on sensor's measurements. In fact, insects can determine the sun direction using their ocelli. Moreover, the light polarization direction can be determined using the compound eyes. Based on polarized light compasses, for example, one can determine the direction of flight and couple it with the attitude control in order to ensure a flapping in the three-dimensional space.

Domaines: Automatique / Robotique

Hala Rifai, Fermi Guerrero Castellanos, Nicolas Marchand. Biomimetic Approach for Attitude Stabilization of a Flapping Micro Aerial Vehicle using Sensors Measurements. International Workshop on Bio-inspired Robots, Apr 2011, Nantes, France. ⟨hal-00676032⟩