Kinematics Optimization for a Flapping-Wing Micro Air Vehicle

Rakotomamonjy, Thomas; Moing, Thierry Le; Ouladsine, Mustapha

doi:10.3182/20050703-6-cz-1902.02019

Cited by 8 publications

(14 citation statements)

References 11 publications

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“…Therefore, the forces and torques, generated by the wings, affect the insect's movement only by their averaged values over a wingbeat period. Note that this strategy is widely use for the control of FMAVs [10,25].…”

Section: Control Strategymentioning

confidence: 99%

Bounded control of an underactuated biomimetic aerial vehicle—Validation with robustness tests

Rifaï

Marchand

Poulin‐Vittrant

2012

Robotics and Autonomous Systems

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Flapping wing Micro Aerial Vehicles (FMAVs) have recently emerged as a promising challenge lying on the progress of the avionics technologies. The present paper deals with the development of simple control laws for an embedded implementation on a biomimetic MAV, aiming to control its attitude and position. The control laws are bounded, taking into consideration the amplitude bounds of the control angles characterizing the flapping wings movement. In order to validate the control laws, a simplified model having a simple wing kinematic parametrization and considering only the main aerodynamic forces and torques is proposed. The stability of the controller is shown in simulations using a diptera insect model. The robustness of the proposed controller is emphasized through different robustness tests. They concern mainly external disturbances, model and aerodynamic parameters errors, and aim to validate the considered simplifications in the model.

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Section: Control Strategymentioning

confidence: 99%

Bounded control of an underactuated biomimetic aerial vehicle—Validation with robustness tests

Rifaï

Marchand

Poulin‐Vittrant

2012

Robotics and Autonomous Systems

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“…Different validation steps have classically been led, in order to prove the pertinence of the complete simulation model (Rakotomamonjy et al, 2004). In particular, some comparisons have been made between this model and previous results given by measurements on experimental devices.…”

Section: Validationmentioning

confidence: 99%

Modelization and Kinematics Optimization for a Flapping-Wing Microair Vehicle

Rakotomamonjy

Ouladsine

Moing

2007

Journal of Aircraft

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A flight-dynamics oriented simulation model of a flapping-wing Micro Air Vehicle (MAV) has been developed. This concept is based on flapping flight performed in nature by insects or hummingbirds. An optimization of the flapping kinematics of the wing has been led, in order to maximize the mean lift and thus the payload. A neural network has been designed to reproduce the function shape of the wings movements, and the weights have been optimized using a genetic algorithm. Results show a lift gain from 30 to 40%, and corroborate also some mechanisms shown up through experiments.

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“…As a reaction to this phenomenon, the wing generates additional rotational circulation (Sane, 2003). This force can be modeled based on (Rakotomamonjy et al, 2004) and using the simplification considered in the present work, as ( ψ is the first-order derivative of the rotation angle ψ )…”

Section: Aerodynamic Forces and Torquesmentioning

confidence: 99%

“…It can be modeled by (Rakotomamonjy et al, 2004) ( φ is the second-order derivative of the flapping angle φ )…”

Section: Aerodynamic Forces and Torquesmentioning

confidence: 99%

“…An optimal control is also proposed in (Tanaka et al, 2006) in order to control the movement of the body in a vertical plane. Backstepping control laws are developed in (Rakotomamonjy, 2006) in order to stabilize separately the forward, vertical and pitch movements of a flapping aerofoil. Nevertheless, the control laws developed in the literature present some limitations.…”

Section: Introductionmentioning

confidence: 99%

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