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Identification of optimal feedback control rules from micro-quadrotor and insect flight trajectories

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Abstract

This paper presents “optimal identification,” a framework for using experimental data to identify the optimality conditions associated with the feedback control law implemented in the measurements. The technique compares closed loop trajectory measurements against a reduced order model of the open loop dynamics, and uses linear matrix inequalities to solve an inverse optimal control problem as a convex optimization that estimates the controller optimality conditions. In this study, the optimal identification technique is applied to two examples, that of a millimeter-scale micro-quadrotor with an engineered controller on board, and the example of a population of freely flying Drosophila hydei maneuvering about forward flight. The micro-quadrotor results show that the performance indices used to design an optimal flight control law for a micro-quadrotor may be recovered from the closed loop simulated flight trajectories, and the Drosophila results indicate that the combined effect of the insect longitudinal flight control sensing and feedback acts principally to regulate pitch rate.

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Authors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, OK, USA

    Imraan A. Faruque

  2. Department of Aerospace Engineering, University of Maryland, College Park, MD, USA

    Kenneth M. Macfarlane & Andrew Kehlenbeck

  3. WU Animal Sciences, Wageningen UR, Wageningen, The Netherlands

    Florian T. Muijres

  4. Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA

    J. Sean Humbert

Authors
  1. Imraan A. Faruque
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  2. Florian T. Muijres
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  3. Kenneth M. Macfarlane
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  4. Andrew Kehlenbeck
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  5. J. Sean Humbert
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Corresponding author

Correspondence to Imraan A. Faruque.

Additional information

This work sponsored in part by the US Air Force Office of Scientific Research (FA95501410068) and by the US Army Research Laboratory (W911NF-08-2-0004). Special thanks to Prof. Michael Dickinson’s laboratory at Caltech for providing the Drosophila data for analysis.

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Faruque, I.A., Muijres, F.T., Macfarlane, K.M. et al. Identification of optimal feedback control rules from micro-quadrotor and insect flight trajectories. Biol Cybern 112, 165–179 (2018). https://doi.org/10.1007/s00422-017-0742-x

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  • DOI: https://doi.org/10.1007/s00422-017-0742-x

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