RiSE State-Based Voltage Control

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RiSE State-BasedVoltage Control
Salomon Trujillo, July 13, 2007
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Video
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Joint Speed Comparison
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Measured Voltage Comparison
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DC Motor Model
t
V Ktt K?? I KIt
High current draw
Stall Torque ? Vmotor
Constant slope
No current draw
?
Area Power
No-Load Speed ? Vmotor
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PD Force Control Diagrams
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Voltage Control of Motors
Wing Voltage
Motor B Voltage
Motor A Voltage
Crank Voltage
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Gait State Machine
Wing Voltage
Pull Down
Front Release
Front Flight
Front Strike
Crank Voltage
Back Release
Back Flight
Back Strike
Front Legs
Pull Down
Back Legs
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Yaw Bang-Bang Control
u
Yaw detected using IMU
?
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Flight-Brake Control
v
Constant velocity approach
Braking Curve
x
Target State
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Pitch Correction
Pitch detected using IMU and wing angles
Normal Attachment
Pitch Correction Attachment
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Future Work

• Produce a hybrid control that combines trajectory
  and state-based controllers.
• Build a framework that uses robot dynamics to
  calculate desired voltages.
• Experiment with voltage commands at transitions
  (input shaping?)
• Work on release and strike states to provide
  smoother attachment detachment and prevent
  non-gravity deceleration.