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Title:Biologically inspired attitude control of robotic systems using center of gravity reallocation
Author(s):Syed, Usman Ahmed
Advisor(s):Hutchinson, Seth A.
Department / Program:Electrical & Computer Eng
Discipline:Electrical & Computer Engr
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):Aerial robotics, MAV, bio-inspired flight
Abstract:Natural species often rely on inertial forces for their orientation control. Lizards, geckos and arboreal animals effectively use their inertial appendages to control their attitude dynamics. On the other hand, flying species such as biological bats employ their relatively heavier wings to produce inertial forces during their flight. Bats, while performing highly agile maneuvers such as upside-down perching (performed in order to approach roosting position), employ these inertial forces to reallocate the center of gravity of their bodies. The study of these natural species, motivates us to consider the effectiveness of center of gravity reallocation as a mechanism for the attitude control of robotic systems. This thesis explores the use of center of gravity reallocation for the control of robotic systems. In particular we attempt to use the mechanism employed by biological bats in their 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 nonlinear closed-loop feedback. In the case of flying machines, CoM reallocation leads to the change in CG-CP distance of the system. In the case of robots with no aerodynamic surfaces, CoM reallocation leads to manipulating the torques produced by numerous forces acting in the system. For the control of robotic systems, we employ nonlinear control techniques. This nonlinear control law, which is based on the method of input-output feedback linearization, enables attitude regulations through CoM reallocation in the system. To design the model-based nonlinear controller, the Lagrangian dynamics of the system are considered, in which the aerodynamic coefficients of lift and drag are obtained experimentally. This work covers the design, system identification and nonlinear controller design. The performance of the proposed control architecture is validated by conducting several experiments.
Issue Date:2019-04-05
Type:Text
URI:http://hdl.handle.net/2142/104989
Rights Information:Copyright 2019 Usman Syed
Date Available in IDEALS:2019-08-23
Date Deposited:2019-05


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