ICRA 2012 Paper Abstract


Paper WeA210.2

Glassman, Elena Leah (Massachusetts Institute of Technology), Lussier Desbiens, Alexis (Stanford University), Tobenkin, Mark (Massachusetts Institute of Technology), Cutkosky, Mark (Stanford University), Tedrake, Russ (Massachusetts Institute of Technology)

Region of Attraction Estimation for a Perching Aircraft: A Lyapunov Method Exploiting Barrier Certificates

Scheduled for presentation during the Interactive Session "Interactive Session WeA-2" (WeA210), Wednesday, May 16, 2012, 09:00−09:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 14, 2018

Keywords Aerial Robotics, Control Architectures and Programming, Climbing Robots


Dynamic perching maneuvers for fixed-wing aircraft are becoming increasingly plausible due to recent progress in perching using `micro-spines' mounted on tuned suspensions and, separately, on feedback motion planning techniques for post-stall maneuvering. In this paper, we bring these complementary techniques together by efficiently estimating the mechanical stability of the plane when it makes contact with a vertical surface; the resulting landing funnel can then be used in a feedback motion planning algorithm for the flight controller.

We consider a simplified model of the perching dynamics and report an extension of the region of attraction techniques, using sums-of-squares optimization, which combines SVM approximated barrier constraints with the traditional Lyapunov methods to achieve tight estimation of the true region of attraction for the model. We demonstrate the new method on a variety of design parameters for the perching system, suggesting a potential use as a mechanical system or controller design tool.



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