{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/104989"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/104989","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Biologically inspired attitude control of robotic systems using center of gravity reallocation","abstract":"Natural species often rely on inertial forces for their orientation control. Lizards, geckos and arboreal animals effectively use their inertial appendages to control their attitude dynamics. On the other hand, flying species such as biological bats employ their relatively heavier wings to produce inertial forces during their flight. Bats, while performing highly agile maneuvers such as upside-down perching (performed in order to approach roosting position), employ these inertial forces to reallocate the center of gravity of their bodies. The study of these natural species, motivates us to consider the effectiveness of center of gravity reallocation as a mechanism for the attitude control of robotic systems. This thesis explores the use of center of gravity reallocation for the control of robotic systems. In particular we attempt to use the mechanism employed by biological bats in their landing maneuvers with a micro aerial vehicle (MAV) called Allice. Allice is capable of adjusting the position of its center of gravity (CG) with respect to the center of pressure (CP) using nonlinear closed-loop feedback. In the case of flying machines, CoM reallocation leads to the change in CG-CP distance of the system. In the case of robots with no aerodynamic surfaces, CoM reallocation leads to manipulating the torques produced by numerous forces acting in the system. For the control of robotic systems, we employ nonlinear control techniques. This nonlinear control law, which is based on the method of input-output feedback linearization, enables attitude regulations through CoM reallocation in the system. To design the model-based nonlinear controller, the Lagrangian dynamics of the system are considered, in which the aerodynamic coefficients of lift and drag are obtained experimentally. This work covers the design, system identification and nonlinear controller design. The performance of the proposed control architecture is validated by conducting several experiments.","abstract_html":"Natural species often rely on inertial forces for their orientation control. Lizards, geckos and arboreal animals effectively use their inertial appendages to control their attitude dynamics. On the other hand, flying species such as biological bats employ their relatively heavier wings to produce inertial forces during their flight. Bats, while performing highly agile maneuvers such as upside-down perching (performed in order to approach roosting position), employ these inertial forces to reallocate the center of gravity of their bodies. The study of these natural species, motivates us to consider the effectiveness of center of gravity reallocation as a mechanism for the attitude control of robotic systems. This thesis explores the use of center of gravity reallocation for the control of robotic systems. In particular we attempt to use the mechanism employed by biological bats in their landing maneuvers with a micro aerial vehicle (MAV) called Allice. Allice is capable of adjusting the position of its center of gravity (CG) with respect to the center of pressure (CP) using nonlinear closed-loop feedback. In the case of flying machines, CoM reallocation leads to the change in CG-CP distance of the system. In the case of robots with no aerodynamic surfaces, CoM reallocation leads to manipulating the torques produced by numerous forces acting in the system. For the control of robotic systems, we employ nonlinear control techniques. This nonlinear control law, which is based on the method of input-output feedback linearization, enables attitude regulations through CoM reallocation in the system. To design the model-based nonlinear controller, the Lagrangian dynamics of the system are considered, in which the aerodynamic coefficients of lift and drag are obtained experimentally. This work covers the design, system identification and nonlinear controller design. The performance of the proposed control architecture is validated by conducting several experiments.","abstract_has_math":false,"creators":["Syed, Usman Ahmed"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Hutchinson, Seth A."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2019,"date_issued":"2019-08-23T20:35:45Z","date_published":"2019-08-23T20:35:45Z","updated_at":"2026-07-22T22:24:44Z","subjects":["Aerial robotics, MAV, bio-inspired flight"],"languages":["en"],"rights":["Copyright 2019 Usman Syed"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/104989","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Hutchinson, Seth A."]},{"key":"dc:creator","label":"Author","values":["Syed, Usman Ahmed"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2019-08-23T20:35:45Z","2021-08-24T09:15:20Z","2019-04-05","2019-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Aerial robotics, MAV, bio-inspired flight"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2019 Usman Syed"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/104989"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Natural species often rely on inertial forces for their orientation control. Lizards, geckos and arboreal animals effectively use their inertial appendages to control their attitude dynamics. On the other hand, flying species such as biological bats employ their relatively heavier wings to produce inertial forces during their flight. Bats, while performing highly agile maneuvers such as upside-down perching (performed in order to approach roosting position), employ these inertial forces to reallocate the center of gravity of their bodies. The study of these natural species, motivates us to consider the effectiveness of center of gravity reallocation as a mechanism for the attitude control of robotic systems. This thesis explores the use of center of gravity reallocation for the control of robotic systems. In particular we attempt to use the mechanism employed by biological bats in their landing maneuvers with a micro aerial vehicle (MAV) called Allice. Allice is capable of adjusting the position of its center of gravity (CG) with respect to the center of pressure (CP) using nonlinear closed-loop feedback. In the case of flying machines, CoM reallocation leads to the change in CG-CP distance of the system. In the case of robots with no aerodynamic surfaces, CoM reallocation leads to manipulating the torques produced by numerous forces acting in the system. For the control of robotic systems, we employ nonlinear control techniques. This nonlinear control law, which is based on the method of input-output feedback linearization, enables attitude regulations through CoM reallocation in the system. To design the model-based nonlinear controller, the Lagrangian dynamics of the system are considered, in which the aerodynamic coefficients of lift and drag are obtained experimentally. This work covers the design, system identification and nonlinear controller design. The performance of the proposed control architecture is validated by conducting several experiments.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2021-05-01","The student, Usman Syed, accepted the attached license on 2019-04-05 at 10:10.","The student, Usman Syed, submitted this Thesis for approval on 2019-04-05 at 10:30.","This Thesis was approved for publication on 2019-04-05 at 16:21.","DSpace SAF Submission Ingestion Package generated from Vireo submission #13492 on 2019-08-22 at 15:05:21","Made available in DSpace on 2019-08-23T20:35:45Z (GMT). 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Lizards, geckos and arboreal animals effectively use their inertial appendages to control their attitude dynamics. On the other hand, flying species such as biological bats employ their relatively heavier wings to produce inertial forces during their flight. Bats, while performing highly agile maneuvers such as upside-down perching (performed in order to approach roosting position), employ these inertial forces to reallocate the center of gravity of their bodies. The study of these natural species, motivates us to consider the effectiveness of center of gravity reallocation as a mechanism for the attitude control of robotic systems. This thesis explores the use of center of gravity reallocation for the control of robotic systems. In particular we attempt to use the mechanism employed by biological bats in their landing maneuvers with a micro aerial vehicle (MAV) called Allice. Allice is capable of adjusting the position of its center of gravity (CG) with respect to the center of pressure (CP) using nonlinear closed-loop feedback. In the case of flying machines, CoM reallocation leads to the change in CG-CP distance of the system. In the case of robots with no aerodynamic surfaces, CoM reallocation leads to manipulating the torques produced by numerous forces acting in the system. For the control of robotic systems, we employ nonlinear control techniques. This nonlinear control law, which is based on the method of input-output feedback linearization, enables attitude regulations through CoM reallocation in the system. To design the model-based nonlinear controller, the Lagrangian dynamics of the system are considered, in which the aerodynamic coefficients of lift and drag are obtained experimentally. This work covers the design, system identification and nonlinear controller design. The performance of the proposed control architecture is validated by conducting several experiments.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2021-05-01","The student, Usman Syed, accepted the attached license on 2019-04-05 at 10:10.","The student, Usman Syed, submitted this Thesis for approval on 2019-04-05 at 10:30.","This Thesis was approved for publication on 2019-04-05 at 16:21.","DSpace SAF Submission Ingestion Package generated from Vireo submission #13492 on 2019-08-22 at 15:05:21","Made available in DSpace on 2019-08-23T20:35:45Z (GMT). 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