Abstract:This paper derives a history dependent formulation of the equations of motion of a flapping wing, groundbased robotic system and constructs an associated adaptive control strategy to track observed flapping motions in insect flight. A general methodology is introduced in which lift and drag forces are represented in terms of history dependent integral operators to model and identify the unknown and unmeasurable aerodynamic loading on the flapping wing robot. The resulting closed loop system constitutes an abst… Show more
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