Control Law Design for Perching an Agile MAV with Articulated Wings

Chakravarthy, Animesh; Paranjape, Aditya A.; Chung, Soon‐Jo

doi:10.2514/6.2010-7934

Cited by 13 publications

(14 citation statements)

References 21 publications

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“…Incidentally, the first part of the maneuver can be used for performing rapid descents in constrained space, as a substitute or complement for strategies such as the spin-based strategy discussed by Ramsey and co-authors [17]. Chakravarthy and co-authors 18 have designed a guidance algorithm based on H 2 optimal control for perching using the ideas described in this paper.…”

Section: Simulationsmentioning

confidence: 99%

Flight Mechanics of a Tailless Articulated Wing Aircraft

Paranjape

Chung

2010

AIAA Atmospheric Flight Mechanics Conference

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This paper explores the flight mechanics of a Micro Aerial Vehicle (MAV) without a vertical tail. The key to stability and control of such an aircraft lies in the ability to control the twist and dihedral angles of both wings independently. Specifically, asymmetric dihedral can be used to control yaw whereas antisymmetric twist can be used to control roll. It has been demonstrated that wing dihedral angles can regulate sideslip and speed during a turn maneuver. The role of wing dihedral in the aircraft's longitudinal performance has been explored. It has been shown that dihedral angle can be varied symmetrically to achieve limited control over aircraft speed even as the angle of attack and flight path angle are varied. A rapid descent and perching maneuver has been used to illustrate the longitudinal agility of the aircraft. This paper lays part of the foundation for the design and stability analysis of an agile flapping wing aircraft capable of performing rapid maneuvers while gliding in a constrained environment.drag, lift and side force J R,R , J L,R moment of inertia tensor of the right and left wings respectively, in their respective wing root frames J R , J L , J moment of inertia tensor of the right and left wings, and the aircraft body respectively, in the aircraft body frame m w,R , m w,L mass of the right and left wings, respectively m total mass of the aircraft p, q, r body axis roll, pitch and yaw rates r CG

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Section: Simulationsmentioning

confidence: 99%

Flight Mechanics of a Tailless Articulated Wing Aircraft

Paranjape

Chung

2010

AIAA Atmospheric Flight Mechanics Conference

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“…Improvements resulting from the use of variable wing twist and movable tail boom were studied in [33] and [34]. In our prior work [5], a linear quadratic Gaussian (LQG) controller was designed to execute a perching maneuver using a combination of wing twist and wing dihedral (see Fig. 2) as control inputs.…”

Section: Literature Reviewmentioning

confidence: 99%

Novel Dihedral-Based Control of Flapping-Wing Aircraft With Application to Perching

2013

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Abstract-We describe the design of an aerial robot inspired by birds and the underlying theoretical developments leading to novel control and closed-loop guidance algorithms for a perching maneuver. A unique feature of this robot is that it uses wing articulation to control the flight path angle as well as the heading angle. It lacks a vertical tail for improved agility, which results in unstable lateraldirectional dynamics. New closed-loop motion planning algorithms with guaranteed stability are obtained by rewriting the flight dynamic equations in the spatial domain rather than as functions of time, after which dynamic inversion is employed. It is shown that nonlinear dynamic inversion naturally leads to proportionalintegral-derivative controllers, thereby providing an exact method for tuning the gains. The capabilities of the proposed bioinspired robot design and its novel closed-loop perching controller have been successfully demonstrated with perched landings on a human hand.

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“…They concluded that the wing dihedral alone provides sufficient yaw control for trim, but also noted that the sign of the yaw control effectiveness changes as a function of the angle of attack and angular rates. Control laws for stabilizing and maneuvering an articulated wing aircraft have been presented in [3,8]. A roll control mechanism was demonstrated by Stanford et al [9] for an aircraft equipped with highly flexible membrane wings.…”

Section: A Literature Reviewmentioning

confidence: 99%

Dynamics and Performance of Tailless Micro Aerial Vehicle with Flexible Articulated Wings

et al. 2012

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The purpose of this paper is to analyze and discuss the performance and stability of a tailless micro aerial vehicle with flexible articulated wings. The dihedral angles can be varied symmetrically on both wings to control the aircraft speed independently of the angle of attack and flight-path angle, while an asymmetric dihedral setting can be used to control yaw in the absence of a vertical tail. A nonlinear aeroelastic model is derived, and it is used to study the steadystate performance and flight stability of the micro aerial vehicle. The concept of the effective dihedral is introduced, which allows for a unified treatment of rigid and flexible wing aircraft. It also identifies the amount of elasticity that is necessary to obtain tangible performance benefits over a rigid wing. The feasibility of using axial tension to stiffen the wing is discussed, and, at least in the context of a linear model, it is shown that adding axial tension is effective but undesirable. The turning performance of an micro aerial vehicle with flexible wings is compared to an otherwise identical micro aerial vehicle with rigid wings. The wing dihedral alone can be varied asymmetrically to perform rapid turns and regulate sideslip. The maximum attainable turn rate for a given elevator setting, however, does not increase unless antisymmetric wing twisting is employed.

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Control Law Design for Perching an Agile MAV with Articulated Wings

Cited by 13 publications

References 21 publications

Flight Mechanics of a Tailless Articulated Wing Aircraft

Flight Mechanics of a Tailless Articulated Wing Aircraft

Novel Dihedral-Based Control of Flapping-Wing Aircraft With Application to Perching

Dynamics and Performance of Tailless Micro Aerial Vehicle with Flexible Articulated Wings

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