System identification and linear time-invariant modeling of an insect-sized flapping-wing micro air vehicle

Abstract

Abstract-Flapping-wing robots typically include numerous nonlinear elements, such as nonlinear geometric and aerodynamic components. For an insect-sized flapping-wing micro air vehicle (FWMAV), we show that a linearized model is sufficient to predict system behavior with reasonable accuracy over a large operating range, not just locally around the linearization state. The theoretical model is verified against an identified model from a prototype robotic fly and implications for vehicle design are discussed.

Design and analysis of an integrated driver for piezoelectric actuators

“…A lower precision drive signal does not impact wing motion and lift force because the inertia of the wing and actuator low-pass filters high-order harmonic content in a low precision driving waveform. This is consistent with lowpass filtering behavior reported in previous studies [13].…”

Model-free control of a flapping-wing flying microrobot

“…Specifically, fabrication needs to be essentially perfect in order to avoid asymmetries in the prototypes that would make them very difficult to stabilize and control, or uncontrollable. Despite these fabrication challenges, unconstrained flight control of the prototype in [1] was preliminarily, but convincingly, demonstrated using the ideas and findings on altitude control and pitch control in [3]- [5], and references therein.…”

“…An adaptive model-based control strategy for the prototype in [7] was proposed and tested in the work presented in [8]. In this paper, we propose a new control strategy, which is entirely experimental and model-free, but takes advantage of the knowledge on flapping-wing systems gathered through static and flying experiments in [3]- [5].…”

“…An adaptive model-based control strategy for the prototype in [7] was proposed and tested in the work presented in [8]. In this paper, we propose a new control strategy, which is entirely experimental and model-free, but takes advantage of the knowledge on flapping-wing systems gathered through static and flying experiments in [3]- [5].In this paper, we provide evidence that the control philosophy first proposed in [1], based on asymmetrical flapping patterns, is applicable to the general flapping-wing flight control case. The experimental results presented here are significantly better than those presented in [1], mainly because the design considered in this work (in Figs.…”

Flip Control for an Indoor Micro Aerial Vehicle

“…Fixed-wing MAVs are suitable for field reconnaissance of large area with high cruising speed and long endurance [2]. Flappingwing MAVs mimic the flight of insects or birds, and a lot of research has been done on flapping-wing MAVs [3]. However, they are still not mature enough for practical application due to unsteady aerodynamics and complex control strategies.…”