A Nonlinear Longitudinal Model and Its Identification of a Tailless Flapping Wing MAV with Stroke Plane Modulation

Zheng, Kexin; Zhang, Weiping; Mou, Jiawang; Wu, Chaofeng; Wang, Yao

doi:10.1007/978-981-16-9492-9_214

Cited by 2 publications

(1 citation statement)

References 12 publications

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“…We adapted the linear damping model to study the effect of drag force on the vehicle. This simplified damping modeling method has been applied in many works [23][24][25] and proved to be effective. Employing the quasi-steady model assumption, the drag force acting on the center of pressure (CoP) of the wing is expressed as:…”

Section: Linear Drag Modelmentioning

confidence: 99%

More Detailed Disturbance Measurement and Active Disturbance Rejection Altitude Control for a Flapping Wing Robot Under Internal and External Disturbances

et al. 2022

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With the goal of designing a biologically inspired robot that can hold a stable hover under internal and external disturbances. We designed a tailless Flapping-wing Micro Aerial Vehicle (FMAV) with onboard 3D velocity perception. In this way, the wind disturbance caused by the relative motion of the FMAV can be quantified in real time based on the established altitudinal dynamics model. For the rest of the total disturbance, an active disturbance rejection controller is proposed to estimate and suppress those disturbances. In comparison with the traditional PID controller, this proposed approach has been validated. The results show that, in the hovering flight with the internal unmodeled dynamics, the root-mean-square of height controlled is only 2.53 cm. Even with the different weights of loads mounting on the FMAV, the ascending trajectory of flights remains impressively consistent. In the forward flight with the external disturbance, the root-mean-square error of height controlled is 2.78 cm. When the FMAV flies over a ladder introducing an abrupt external disturbance, the maximum overshoot is only half of that controlled by the PID controller. To our best knowledge, this is the first demonstration of FMAVs with the capability of sensing motion-generated wind disturbance onboard and handling the internal and external disturbances in hover flight.

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Section: Linear Drag Modelmentioning

confidence: 99%

More Detailed Disturbance Measurement and Active Disturbance Rejection Altitude Control for a Flapping Wing Robot Under Internal and External Disturbances

et al. 2022

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Adaptive Control of Flapping-Wing Micro Aerial Vehicle with Coupled Dynamics and Unknown Model Parameters

Mou

Zhang

et al. 2022

Applied Sciences

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With the complex aerodynamics, the accurate system model of the flapping-wing micro aerial vehicle required for precise control is hard to acquire, meanwhile, due to the unique control strategy, the coupling between the actuators also brings a great challenge to the control of the vehicle. In this paper, we establish a theoretical model of the vehicle. Based on this model, we propose a multiaxial adaptive controller with the reference generator for the attitude and altitude control using the backstepping design method, the stability of this controller is proved by the Lyapunov function. Moreover, a control allocation algorithm is proposed to coordinate the different actuators such that they together produce the desired virtual control efforts. In addition, we detail the lightweight design of the flapping-wing micro aerial vehicle with altitude and attitude sensing onboard. Then, the effectiveness of the proposed control scheme is verified by the simulation and the flight test with multi-axis simultaneous control conducted on this lightweight vehicle. The experimental results show that the controller can maintain hovering flight and ensure the convergence of the adaptive parameters even when the unilateral thrust of the vehicle is not enough due to manufacturing and assembly errors. This work provides an idea for us to explore how insects maintain stable flight in the face of changes in their model parameters.

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A Nonlinear Longitudinal Model and Its Identification of a Tailless Flapping Wing MAV with Stroke Plane Modulation

Cited by 2 publications

References 12 publications

More Detailed Disturbance Measurement and Active Disturbance Rejection Altitude Control for a Flapping Wing Robot Under Internal and External Disturbances

More Detailed Disturbance Measurement and Active Disturbance Rejection Altitude Control for a Flapping Wing Robot Under Internal and External Disturbances

Adaptive Control of Flapping-Wing Micro Aerial Vehicle with Coupled Dynamics and Unknown Model Parameters

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