Robotic Hummingbird Axial Dynamics and Control near Hovering: A Simulation Model
After a short overview of the COLIBRI project, this paper considers the cycle-averaged flight dynamics of a flapping-wing robot near hovering, taking advantage of the weak coupling between the roll and pitch axes. The system is naturally unstable; it needs to be stabilized actively, which requires a...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-06-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/12/7/262 |
| _version_ | 1797590704031006720 |
|---|---|
| author | Yousef Farid Liang Wang Lorenzo Brancato Han Wang Kainan Wang André Preumont |
| author_facet | Yousef Farid Liang Wang Lorenzo Brancato Han Wang Kainan Wang André Preumont |
| author_sort | Yousef Farid |
| collection | DOAJ |
| description | After a short overview of the COLIBRI project, this paper considers the cycle-averaged flight dynamics of a flapping-wing robot near hovering, taking advantage of the weak coupling between the roll and pitch axes. The system is naturally unstable; it needs to be stabilized actively, which requires an attitude reconstruction. Due to the flapping of the wings, the system is subject to a strong periodic noise at the flapping frequency and its higher harmonics; the resulting axial forces and pitch moments are characterized from experimental data. The flapping noise propagates to the six-axis Inertial Measurement Unit (IMU) consisting of three accelerometers and three gyros. The paper is devoted to attitude reconstruction in the presence of flapping noise representative of flight conditions. Two methods are considered: (<i>i</i>) the complementary filter based on the hovering assumption and (<i>ii</i>) a full-state dynamic observer (Kalman filter). Unlike the complementary filter, the full-state dynamic observer allows the reconstruction of the axial velocity, allowing us to control the hovering without any additional sensor. A numerical simulation is conducted to assess the merit of the two methods using experimental noise data obtained with the <i>COLIBRI</i> robot. The paper discusses the trade-off between noise rejection and stability. |
| first_indexed | 2024-03-11T01:24:18Z |
| format | Article |
| id | doaj.art-3908b313e00c4b41a571bb2082ae561d |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-11T01:24:18Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-3908b313e00c4b41a571bb2082ae561d2023-11-18T17:49:18ZengMDPI AGActuators2076-08252023-06-0112726210.3390/act12070262Robotic Hummingbird Axial Dynamics and Control near Hovering: A Simulation ModelYousef Farid0Liang Wang1Lorenzo Brancato2Han Wang3Kainan Wang4André Preumont5Department of Control Engineering and System Analysis, Université Libre de Bruxelles (ULB), CP. 165-55, 50 Av. F.D. Roosevelt, B-1050 Brussels, BelgiumDepartment of Control Engineering and System Analysis, Université Libre de Bruxelles (ULB), CP. 165-55, 50 Av. F.D. Roosevelt, B-1050 Brussels, BelgiumDepartment of Control Engineering and System Analysis, Université Libre de Bruxelles (ULB), CP. 165-55, 50 Av. F.D. Roosevelt, B-1050 Brussels, BelgiumDepartment of Control Engineering and System Analysis, Université Libre de Bruxelles (ULB), CP. 165-55, 50 Av. F.D. Roosevelt, B-1050 Brussels, BelgiumDepartment of Control Engineering and System Analysis, Université Libre de Bruxelles (ULB), CP. 165-55, 50 Av. F.D. Roosevelt, B-1050 Brussels, BelgiumDepartment of Control Engineering and System Analysis, Université Libre de Bruxelles (ULB), CP. 165-55, 50 Av. F.D. Roosevelt, B-1050 Brussels, BelgiumAfter a short overview of the COLIBRI project, this paper considers the cycle-averaged flight dynamics of a flapping-wing robot near hovering, taking advantage of the weak coupling between the roll and pitch axes. The system is naturally unstable; it needs to be stabilized actively, which requires an attitude reconstruction. Due to the flapping of the wings, the system is subject to a strong periodic noise at the flapping frequency and its higher harmonics; the resulting axial forces and pitch moments are characterized from experimental data. The flapping noise propagates to the six-axis Inertial Measurement Unit (IMU) consisting of three accelerometers and three gyros. The paper is devoted to attitude reconstruction in the presence of flapping noise representative of flight conditions. Two methods are considered: (<i>i</i>) the complementary filter based on the hovering assumption and (<i>ii</i>) a full-state dynamic observer (Kalman filter). Unlike the complementary filter, the full-state dynamic observer allows the reconstruction of the axial velocity, allowing us to control the hovering without any additional sensor. A numerical simulation is conducted to assess the merit of the two methods using experimental noise data obtained with the <i>COLIBRI</i> robot. The paper discusses the trade-off between noise rejection and stability.https://www.mdpi.com/2076-0825/12/7/262hummingbirdhoveringIMUattitude reconstructioncomplementary filterdynamic observer |
| spellingShingle | Yousef Farid Liang Wang Lorenzo Brancato Han Wang Kainan Wang André Preumont Robotic Hummingbird Axial Dynamics and Control near Hovering: A Simulation Model Actuators hummingbird hovering IMU attitude reconstruction complementary filter dynamic observer |
| title | Robotic Hummingbird Axial Dynamics and Control near Hovering: A Simulation Model |
| title_full | Robotic Hummingbird Axial Dynamics and Control near Hovering: A Simulation Model |
| title_fullStr | Robotic Hummingbird Axial Dynamics and Control near Hovering: A Simulation Model |
| title_full_unstemmed | Robotic Hummingbird Axial Dynamics and Control near Hovering: A Simulation Model |
| title_short | Robotic Hummingbird Axial Dynamics and Control near Hovering: A Simulation Model |
| title_sort | robotic hummingbird axial dynamics and control near hovering a simulation model |
| topic | hummingbird hovering IMU attitude reconstruction complementary filter dynamic observer |
| url | https://www.mdpi.com/2076-0825/12/7/262 |
| work_keys_str_mv | AT youseffarid robotichummingbirdaxialdynamicsandcontrolnearhoveringasimulationmodel AT liangwang robotichummingbirdaxialdynamicsandcontrolnearhoveringasimulationmodel AT lorenzobrancato robotichummingbirdaxialdynamicsandcontrolnearhoveringasimulationmodel AT hanwang robotichummingbirdaxialdynamicsandcontrolnearhoveringasimulationmodel AT kainanwang robotichummingbirdaxialdynamicsandcontrolnearhoveringasimulationmodel AT andrepreumont robotichummingbirdaxialdynamicsandcontrolnearhoveringasimulationmodel |