Bio-inspired sensing and control for disturbance rejection and stabilization

Gregory Gremillion; James Sean Humbert

doi:10.1117/12.2178270

22 May 2015 Bio-inspired sensing and control for disturbance rejection and stabilization

Gregory Gremillion, James Sean Humbert

Proceedings Volume 9467, Micro- and Nanotechnology Sensors, Systems, and Applications VII; 94671O (2015) https://doi.org/10.1117/12.2178270
Event: SPIE Defense + Security, 2015, Baltimore, MD, United States

Abstract

The successful operation of small unmanned aircraft systems (sUAS) in dynamic environments demands robust stability in the presence of exogenous disturbances. Flying insects are sensor-rich platforms, with highly redundant arrays of sensors distributed across the insect body that are integrated to extract rich information with diminished noise. This work presents a novel sensing framework in which measurements from an array of accelerometers distributed across a simulated flight vehicle are linearly combined to directly estimate the applied forces and torques with improvements in SNR. In simulation, the estimation performance is quantified as a function of sensor noise level, position estimate error, and sensor quantity.

Citation Download Citation

Gregory Gremillion and James Sean Humbert "Bio-inspired sensing and control for disturbance rejection and stabilization", Proc. SPIE 9467, Micro- and Nanotechnology Sensors, Systems, and Applications VII, 94671O (22 May 2015); https://doi.org/10.1117/12.2178270

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