Biologically inspired attitude control of robotic systems using center of gravity reallocation

Syed, Usman Ahmed

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https://hdl.handle.net/2142/104989 Copy

Description

Title

Biologically inspired attitude control of robotic systems using center of gravity reallocation

Author(s)

Syed, Usman Ahmed

Issue Date

2019-04-05

Director of Research (if dissertation) or Advisor (if thesis)

Hutchinson, Seth A.

Department of Study

Electrical & Computer Eng

Discipline

Electrical & Computer Engr

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(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.

Graduation Semester

2019-05

Type of Resource

text

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http://hdl.handle.net/2142/104989

Copyright and License Information

Copyright 2019 Usman Syed

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