Adaptive attitude and position control of an insect-like flapping wing air vehicle

Banazadeh, Afshin; Taymourtash, Neda

doi:10.1007/s11071-016-2666-8

Cited by 56 publications

(21 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Both the position and attitude tracking errors are successfully kept within acceptable bounds even under the interference of random noises. Although the FMAV model in [13] is not identical with the one studied in this paper, it can be concluded from [23] that the control strategy of [13] degrades quickly due to the chattering problem when the attitude error is relatively large. Input constrained tracking control of FMAV was also discussed in [25], compared with their method, our proposed control strategy yields smoother tracking trajectories, which means the proposed control law is more robust and suitable for practical applications.…”

Section: Simulation Results and Analysismentioning

confidence: 99%

“…Lin et al use a modified P‐control to stabilise the altitude of their Golden Snitch [12]. Banazadeh et al design an adaptive sliding mode technique for the attitude and position control of a rigid body, insect‐like flapping wing model in the presence of uncertainties [13]. An adaptive tracking controller is proposed in [14] for the Harvard fly.…”

Section: Introductionmentioning

confidence: 99%

“…In fact, once the fast changing inner loop control (attitude control) is determined, the outer loop control (position control) can be designed according to practical applications with much flexibility. For the position control of an FMAV system [13, 14], averaging method proves to be a mainstream way to construct practical controllers [11, 15], which approximates the orbit of the oscillating system by the solution of an average system, resulting in more straightforward analysis for the system's stability [16]. Averaging theory seeks a way to approximate the non‐autonomous vector field with an autonomous one.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive tracking control of flapping wing micro‐air vehicles with averaging theory

Qian

Fang

2018

CAAI Transactions on Intelligence Technology

View full text Add to dashboard Cite

An input constrained adaptive tracking controller is designed for flapping micro aerial vehicles, wherein the moving averaging filter is adopted to estimate the averaged states of the system. Specifically, in the outer loop controller, an observer is constructed to estimate the disturbances within the system. Moreover, the constrained thrust is designed to keep the frequency in a proper region so as to meet the requirement of average estimation. Then, a tracking differentiator is used to provide trackable trajectories for the inner loop. Subsequently, a new quaternionbased hybrid attitude tracking controller is designed which successfully deals with high-frequency noises and avoids possible chattering. As supported by mathematical analysis, the proposed control strategy guarantees the uniform ultimate boundedness of the closed-loop system, and it keeps the control torques within the permitted range to meet the application requirement. At last, numerical simulations are carried out to support the validity of the proposed controller, whose results are satisfactory even when the thrust and torques are saturated.

show abstract

Section: Simulation Results and Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive tracking control of flapping wing micro‐air vehicles with averaging theory

Qian

Fang

2018

CAAI Transactions on Intelligence Technology

View full text Add to dashboard Cite

show abstract

“…Actuation force qe and damping force qa represent the fringing electrostatic force and the aerodynamic force per unit length respectively. The distributed aerodynamic force qa is [29,30] |qa|=0.5ρawbca(∂u/∂t)2, in which the direction of the aerodynamic force is opposite to the direction of the velocity; ca is the drag coefficient; ρa is the density of the air.…”

Section: Problem Formulation and Dynamic Modelingmentioning

confidence: 99%

Dynamic Analysis of a Micro Beam-Based Tactile Sensor Actuated by Fringing Electrostatic Fields

et al. 2019

View full text Add to dashboard Cite

A new kind of fringing electrostatic actuation mode is developed. In this new actuation mode, the expression of fringing electrostatic force is found. The nonlinear dynamic analysis of this new actuation mode is presented by using the Method of Multiple Scales. An experiment is designed to observe the dynamic behaviors of this structure. It is observed that the resonance frequency rises with the increase of the initial displacement and the decrease of the slit gap; a smaller slit gap makes marked change of the resonance frequency in the same range of the initial displacement; the increase of the vibration amplitude is linear with the increase of the initial displacement; the fringing electrostatic force has a larger impact on the frequency response of the nonlinear vibration when the initial displacement, the beam length and the actuated voltage are larger. This new fringing electrostatic actuation mode can be used in a micro tactile sensor. The results of dynamic analysis can provide support for sensor design. Based on the dynamic investigations into the micro cantilevered beam actuated by fringing electrostatic force; three usage patterns of the sensor are introduced as follows. Firstly, measuring resonance frequency of the micro beam can derive the initial displacement. Second, the initial displacement can be derived from vibration amplitude measurement. Third, jump phenomenon can be used to locate the initial displacement demand.

show abstract

“…An observer was introduced to estimate angular velocity and external disturbances to accomplish robust tracking control in [18]. Banazadeh and Taymourtash [19] introduced adaptive sliding mode and neural networks to achieve attitude and position control for FWMAVs with parametric uncertainties. Dierks and Jagannathan [20] introduced the neural networks based observer to estimate translational and angular velocities, and designed an output feedback control scheme.…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Attitude Control for Flapping Wing Micro Aerial Vehicle With Nonaffine-in-Control Characteristics

Feng

Wang

et al. 2020

IEEE Access

View full text Add to dashboard Cite

This study presents attitude control research of flapping wing micro aerial vehicles with nonaffine-in-control characteristics via the active disturbance rejection control technique. With consideration of the uncertainties in moment of inertia caused by wings flapping and external disturbances, an extended state observer based on the unit quaternion is first designed to estimate the angular velocity and total uncertainties. The norm constraint on the unit quaternion can be guaranteed theoretically. The requirement of accurate value of moment of inertia is circumvented in the extended state observer. Based on the designed extended state observer, an output feedback controller using dynamic inversion method is presented to resolve the nonaffine-in-control characteristics caused by the uncertainties in moment of inertia. Rigorous closed-loop system stability is proven by employment of Lyapunov functions and the proposed control structure possesses the multi-timescale property. Finally, numerical simulations are provided to validate the effectiveness and good tracking performance of the proposed control scheme. INDEX TERMS Active disturbance rejection control, dynamic inversion control, extended state observer, flapping wing micro aerial vehicle, nonaffine-in-control.

show abstract

Adaptive attitude and position control of an insect-like flapping wing air vehicle

Cited by 56 publications

References 34 publications

Adaptive tracking control of flapping wing micro‐air vehicles with averaging theory

Adaptive tracking control of flapping wing micro‐air vehicles with averaging theory

Dynamic Analysis of a Micro Beam-Based Tactile Sensor Actuated by Fringing Electrostatic Fields

Active Disturbance Rejection Attitude Control for Flapping Wing Micro Aerial Vehicle With Nonaffine-in-Control Characteristics

Contact Info

Product

Resources

About