interesting_robot_form

Modeling, identification and control of model jet engines for jet powered robotics §

Giuseppe L’Erario et al., RAL 2020, link

Progress: 10% §

主要工作 §

• Design a procedure of how to modeling, identify and control model jet engines.

1. Use the sparse identification method SINDy to find out the governing jet engine model
   After fixing the model shape, get: where
2. Fixed the model structure, perform gray-box estimation using:
   1. Batch least squares
   2. Recursive extended Kalman Filter To identify
3. Control the model jet engine by applying and comparing feedback linearization and sliding mode control”

An Underactuated Propeller for Attitude Control in Micro Air Vehicles §

James Paulos et al., IROS 2013, link

Following work §

• Underactuated Rotor for Simple Micro Air Vehicles