WIND FRAME STATE ESTIMATION AND GUST REJECTION USING BIO-INSPIRED FLOW SENSORS

Abstract

Growing demand for robust, low-computation sensing and control of micro-air

vehicles motivates development of new technology. A MEMS wind

ow sensor has

been developed in-house, drawing inspiration from setae structures seen in biology.

The goal of this work is to validate the use of these new sensors for wind frame state

estimation and gust rejection. Three of these sensors were mounted on the surface

of a fuselage-like structure to estimate wind speed, angle of attack, and sideslip

angle. Static linear and nonlinear estimation model structures and parameters were

designed with time-domain equation-error system identication techniques. For

small angles, state estimation was demonstrated for both estimation schemes. Gust

rejection control was implemented to improve state regulation in the presence of a

lateral gust stream. A robust controller was implemented and displayed lateral

velocity and path perturbation attenuation.