22 May 2015 Bio-inspired sensing and control for disturbance rejection and stabilization
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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.
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Gregory Gremillion, 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); doi: 10.1117/12.2178270; https://doi.org/10.1117/12.2178270
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