Hovering Flight of a Robotic Hummingbird: Dynamic Observer and Flight Tests
Han Wang,
Yousef Farid,
Liang Wang
et al.
Abstract:The paper reports on flight tests at hovering of the COLIBRI robot. After a short review of the control model and the stabilization strategy, two different approaches are considered for the attitude reconstruction from the MEMS Inertial Measurement Unit (IMU): the complementary filter and the full-state dynamic observer, implemented in a specially designed flight control board. It is shown that both strategies provide adequate stabilization at hovering in spite of the strong vibration excitation resulting from… Show more
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