From Rousettus aegyptiacus (bat) landing to robotic landing: Regulation of CG-CP distance using a nonlinear closed-loop feedback

Usman A. Syed, Alireza Ramezani, Soon Jo Chung, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Bats are unique in that they can achieve unrivaled agile maneuvers due to their functionally versatile wing conformations. Among these maneuvers, roosting (landing) has captured attentions because bats perform this acrobatic maneuver with a great composure. This work attempts to reconstruct bat landing maneuvers with a Micro Aerial Vehicle (MAV) called Allice. Allice is capable of adjusting the position of its Center of Gravity (CG) with respect to the Center of Pressure (CP) using a nonlinear closed-loop feedback. This nonlinear control law, which is based on the method of input-output feedback linearization, enables attitude regulations through variations in CG-CP distance. To design the model-based nonlinear controller, the Newton-Euler dynamic model of the robot is considered, in which the aerodynamic coefficients of lift and drag are obtained experimentally. The performance of the proposed control architecture is validated by conducting several experiments.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3560-3567
Number of pages8
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Syed, U. A., Ramezani, A., Chung, S. J., & Hutchinson, S. (2017). From Rousettus aegyptiacus (bat) landing to robotic landing: Regulation of CG-CP distance using a nonlinear closed-loop feedback. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 3560-3567). [7989408] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989408