Biomimetic trajectory tracking by means of event-based control

• Main Author: Dola, Lorris
• Format: Others
• Language: English
• Published: KTH, Reglerteknik 2014
• Online Access: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-142842

Flying insects are able to accomplish unprecedented flight by regulating their optic flow which is the velocty to which the environment scrolls in front of their eyes. This approach can be correlated to an event-based control where an event is generated according to the change of the environment. The event-based control allows to use a very few updates of the control to reach an objective. In order to mimic the insect behavior, we propose to study and apply an event-based approach. the event-based control is simulated on a miniature direct current motor linked to a propeller and experiment on a real one. We also study different controllers: a event-based PI controller and a state-feedback controller. A special attenntion is given to the power consumption of the control in term of energy and computational resources. We propose to lower the sampling frequency of the direct current motor during the experimentation to reduce the power consumption and we estimate the propeller velocity in order to get rid of the velocity sensor.