Dynamic Model and Attitude Control of Flapping Wing Micro Aerial Vehicle

摘要：

The flying mechanism of birds and big insects, especially the rules of wings motion in flight, are investigated, and some details of mechanical frame are also considered. The entire dynamic model of flight attitude of Flapping Wing Micro Aerial Vehicle (FWMAV) is developed. The design of attitude controller is challenging due to the complexity of the flight process, and the heavy difficulty includes the system uncertainty, nonlinearity, multi-variable coupled parameters, and all kinds of disturbances. To control the attitude movement effectively, an adaptive robust control scheme is proposed to decompose the system into nominal model, structured uncertainties, and unstructured uncertainty. For them, direct feedback controller, adaptive controller, and robust controller are constructed respectively. Simulation results are presented to verify the validity of the dynamic model and the control strategy.

关键词： Terms-flapping wing micro aerial vehicle dynamic model adaptive robust control attitude control

作者: Hongjun DUAN Qingwei LI

作者单位: Department of Automation Engineering Northeastern University at Qinhuangdao Qinhuangdao,China Department of Environment Science Engineering Northeastern University at Qinhuangdao Qinhuangdao,Chi

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 451-456

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）