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Campolo, Domenico and Schenato, Luca and Guglielmelli, Eugenio (2007) Multimodal Sensor Fusion for Attitude Control of Micromechanical Flying Insects: a Geometric Approach. [Technical Report] (Inedito)

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Abstract (english)

In this paper, we study sensor fusion for the attitude stabilization of Micro Aerial Vehicles (MAVs), in particular mechanical flying insects. First, following a geometric approach, a dynamic observer is proposed which estimates attitude based on kinematic data available from different and redundant bio-inspired sensors such as halteres, ocelli, gravitometers, magnetic compass and light polarization compass. In particular, the traditional structure of complementary filters, suitable for multiple sensor fusion, is specialized to the Lie group of rigid body rotations SO(3) by means of an intrinsic notion of state error. A natural Lyapunov function is then defined to prove almost-global asymptotic stability of the proposed observer. Second, stability of traditional passivity-based attitude controllers is proved also in the case when the output of
the proposed dynamic observer is used as state feedback. Finally, simulations are used to demonstrate greater robustness to disturbances of dynamic attitude estimation feedback as compared with static output feedback.


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EPrint type:Technical Report
Anno di Pubblicazione:December 2007
Key Words:sensor fusion, ocelli, halteres, gravitometer, polarization sensor, attitude control, SO(3) Lie group
Settori scientifico-disciplinari MIUR:Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 Automatica
Struttura di riferimento:Dipartimenti > Dipartimento di Ingegneria dell'Informazione
Codice ID:1023
Depositato il:19 Mar 2008
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