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Flight control system for a micromechanical flying insect: architecture and implementation

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3 Author(s)
Schenato, L. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; Deng, X. ; Sastry, S.

Describes results on the design and simulation of a flight control system for the micromechanical flying insect (MFI), a 10-25 mm (wingtip-to-wingtip) device eventually capable of sustained autonomous flight. The biologically inspired system architecture results in a hierarchical structure of different control methodologies, which give the possibility to plan complex missions from a sequence of simple flight modes and maneuvers. As a case study, a stabilizing hovering control scheme is presented and simulated with VIFS, a software simulator for insect flight.

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Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:2 )

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