Staff Publications

Staff Publications

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    'Staff publications' is the digital repository of Wageningen University & Research

    'Staff publications' contains references to publications authored by Wageningen University staff from 1976 onward.

    Publications authored by the staff of the Research Institutes are available from 1995 onwards.

    Full text documents are added when available. The database is updated daily and currently holds about 240,000 items, of which 72,000 in open access.

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Record number 532002
Title Identification of optimal feedback control rules from micro-quadrotor and insect flight trajectories
Author(s) Faruque, Imraan A.; Muijres, Florian T.; Macfarlane, Kenneth M.; Kehlenbeck, Andrew; Humbert, J.S.
Source Biological Cybernetics 112 (2018)3. - ISSN 0340-1200 - p. 165 - 179.
DOI https://doi.org/10.1007/s00422-017-0742-x
Department(s) WIAS
Experimental Zoology
Publication type Refereed Article in a scientific journal
Publication year 2018
Keyword(s) Control - Drosophila - Flight - Identification - Insect - Optimal
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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