Dynamics, stability, and control analyses of flapping wing micro-air vehicles

Orlowski, Christopher T.; Girard, Anouck

doi:10.1016/j.paerosci.2012.01.001

Cited by 114 publications

(68 citation statements)

References 80 publications

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“…A consensus drawn from several stability studies indicates that, similar to insect flight, flapping-wing MAVs in hover are unstable without active control [6]. Together with uncertainties due to an incomplete model of the vehicle and the requirement to vary the attitude setpoint for lateral maneuvers, it is necessary to design a robust controller that allows for significant excursions from the hovering state.…”

Section: A Adaptive Attitude Controllermentioning

confidence: 99%

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Adaptive control for takeoff, hovering, and landing of a robotic fly

Chirarattananon¹,

Kevin²,

Wood³

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Challenges for controlled flight of a robotic insect are due to the inherent instability of the system, complex fluid-structure interactions, and the general lack of a complete system model. In this paper, we propose theoretical models of the system based on the limited information available from previous work and a comprehensive adaptive flight controller that is capable of coping with uncertainties in the system. We have demonstrated that the proposed methods enable the robot to achieve sustained hovering flights with relatively small errors compared to a similar but non-adaptive approach. Furthermore, vertical takeoff and landing flights are also shown to illustrate the fidelity of the flight controller.

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Section: A Adaptive Attitude Controllermentioning

confidence: 99%

“…This result was the culmination of research in meso-scale actuation [2] and advances in manufacturing [3]. These developments enabled the creation of insect-scale flapping-wing vehicles that are able to generate torques about all three body axes [4], [5]; a requirement for flapping-wing MAVs due to their inherent instability [6].…”

Section: Introductionmentioning

confidence: 99%

Adaptive control for takeoff, hovering, and landing of a robotic fly

Chirarattananon¹,

Kevin²,

Wood³

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Accounting for all time-resolved forces and torques produced while flapping and the subsequent body dynamics will involve direct numerical simulation of the aerodynamic forces and body dynamics including compliance, which is still challenging and requires enormous computational resources. Readers are referred to [137,174,252] for a detailed review of the current state of stability analysis of insect-scale natural and artificial flight.…”

Section: (B) Averaged and Linearized Modelsmentioning

confidence: 99%

Aerodynamics, sensing and control of insect-scale flapping-wing flight

et al. 2016

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There are nearly a million known species of flying insects and 13 000 species of flying warm-blooded vertebrates, including mammals, birds and bats. While in flight, their wings not only move forward relative to the air, they also flap up and down, plunge and sweep, so that both lift and thrust can be generated and balanced, accommodate uncertain surrounding environment, with superior flight stability and dynamics with highly varied speeds and missions. As the size of a flyer is reduced, the wing-to-body mass ratio tends to decrease as well. Furthermore, these flyers use integrated system consisting of wings to generate aerodynamic forces, muscles to move the wings, and sensing and control systems to guide and manoeuvre. In this article, recent advances in insect-scale flapping-wing aerodynamics, flexible wing structures, unsteady flight environment, sensing, stability and control are reviewed with perspective offered. In particular, the special features of the low Reynolds number flyers associated with small sizes, thin and light structures, slow flight with comparable wind gust speeds, bioinspired fabrication of wing structures, neuron-based sensing and adaptive control are highlighted.

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“…Flying insects are capable of exhibiting complex aerial feats unmatched by other flying animals. The exceptional maneuverability of these flying insects inspires biologists to advance their understanding of flapping-wing aerodynamics and insect flight [1], [2], [3], prompting several efforts to develop insect-scale aerial vehicles [4], [5].…”

Section: Introductionmentioning

confidence: 99%

Single-loop control and trajectory following of a flapping-wing microrobot

Chirarattananon

Kevin

Wood

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Inspired by the agility of flying insects and the recent development on an insect-scale aerial vehicle, we propose a single-loop adaptive flight control suite designed with an emphasis on the ability to track dynamic trajectories as a step towards the goal of performing acrobatic maneuvers as observed in real insects. Instead of the conventional approach of having cascaded control loops, the proposed controller directly regulates the commanded torques to stabilize the attitude and lateral position in a single loop. One of the recent successful prototypes from the RoboBees project demonstrated its first unconstrained flight [6]. The 80mg Micro Aerial Vehicle (MAV) shown in figure 1 is a result of the culmination of research in meso-scale actuation and manufacturing technology [7], [8]. The flappingwing robot is able to generate body torques and sufficient lift force [9] satisfying the key requirements for stable flight with the aid of an active flight controller [6].In an effort to improve the flight performance demonstrated in [6], the lack of comprehensive knowledge of the system and variation caused by imperfect fabrication motivated the development of a suite of adaptive flight controller capable of coping with model uncertainties [10]. This brought about marked improvement in flight performance as evidenced by a reduction in position errors, particularly for hovering flights. Moreover, the fidelity of this flight controller was further demonstrated in vertical takeoff and landing flights.

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Dynamics, stability, and control analyses of flapping wing micro-air vehicles

Cited by 114 publications

References 80 publications

Adaptive control for takeoff, hovering, and landing of a robotic fly

Adaptive control for takeoff, hovering, and landing of a robotic fly

Aerodynamics, sensing and control of insect-scale flapping-wing flight

Single-loop control and trajectory following of a flapping-wing microrobot

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