Observer-Based Control of Hummingbird Robot Trajectories
Year: 2026
Type: article
Abstract: This paper presents an observer-based strategy for controlling the horizontal trajectories of a hummingbird robot from on-board inertial measurements (MEMS). The centrifugal acceleration resulting from sharp turns is responsible for the dynamic coupling between the roll axis and the pitch and yaw axes. This coupling cannot be accounted for with independent control loops for the three axes; the problem can be solved with a modified state observer (MSO) introduced on the roll axis. Numerical simulations are presented to confirm the idea. The limited additional computational burden allows for real-time implementation. The MSO allows the robot to mimic the behavior of birds that lean towards the inside when turning. Under steady-state conditions (uniform longitudinal velocity and constant yaw rate), the pitch angle is such that the longitudinal component of the gravity vector balances the longitudinal drag force and the roll angle is such that the lateral component of the gravity vector balances the centrifugal acceleration.
Source: Machines
Authors: Yousef Farid, André Preumont
Institution: Université Libre de Bruxelles
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W7212301282