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Biologically Inspired Feedback Design for Drosophila Flight

Epstein, Michael and Waydo, Stephen and Fuller, Sawyer B. and Dickson, Will and Straw, Andrew D. and Dickinson, Michael H. and Murray, Richard M. (2007) Biologically Inspired Feedback Design for Drosophila Flight. In: American Control Conference, 2007. ACC '07. IEEE , New York, NY, pp. 3395-3401. ISBN 1-4244-0988-8. https://resolver.caltech.edu/CaltechAUTHORS:20100506-100128102

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Abstract

We use a biologically motivated model of the Drosophila's flight mechanics and sensor processing to design a feedback control scheme to regulate forward flight. The model used for insect flight is the grand unified fly (GUF) [3] simulation consisting of rigid body kinematics, aerodynamic forces and moments, sensory systems, and a 3D environment model. We seek to design a control algorithm that will convert the sensory signals into proper wing beat commands to regulate forward flight. Modulating the wing beat frequency and mean stroke angle produces changes in the flight envelope. The sensory signals consist of estimates of rotational velocity from the haltere organs and translational velocity estimates from visual elementary motion detectors (EMD's) and matched retinal velocity filters. The controller is designed based on a longitudinal model of the flight dynamics. Feedforward commands are generated based on a desired forward velocity. The dynamics are linearized around this operating point and a feedback controller designed to correct deviations from the operating point. The control algorithm is implemented in the GUF simulator and achieves the desired tracking of the forward reference velocities and exhibits biologically realistic responses.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ACC.2007.4282971DOIArticle
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4282971PublisherArticle
ORCID:
AuthorORCID
Straw, Andrew D.0000-0001-8381-0858
Dickinson, Michael H.0000-0002-8587-9936
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2007 IEEE. Issue Date : 9-13 July 2007; date of Current Version : 30 July 2007. Support for this work was partially provided by AFOSR Grant FA9550-06-1-0079 as well as a Fannie and John Hertz Foundation Fellowship for S. Waydo and a National Science Foundation Graduate Fellowship for S. Fuller.
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-06-1-0079
Fannie and John Hertz FoundationUNSPECIFIED
NSF Graduate Research FellowshipUNSPECIFIED
Subject Keywords:aerodynamics; aerospace control; biomimetics; control system synthesis; feedback; feedforward; linearisation techniques
DOI:10.1109/ACC.2007.4282971
Record Number:CaltechAUTHORS:20100506-100128102
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20100506-100128102
Official Citation:Epstein, M.; Waydo, S.; Fuller, S.B.; Dickson, W.; Straw, A.; Dickinson, M.H.; Murray, R.M.; , "Biologically Inspired Feedback Design for Drosophila Flight," American Control Conference, 2007. ACC '07 , vol., no., pp.3395-3401, 9-13 July 2007 doi: 10.1109/ACC.2007.4282971 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4282971&isnumber=4282135
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:18159
Collection:CaltechAUTHORS
Deposited By: Jason Perez
Deposited On:24 Jun 2010 18:20
Last Modified:08 Nov 2021 23:41

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