Dynamic Model of Micro Flapping-wing Aerial Robot and Attitude Control

摘要：

The flying mechanism of birds and big insects,especially the rules of wings motion in flight,are investigated.Some details of mechanical frame are also considered.The entire dynamic model of flight attitude for Micro Flapping-wing Aerial Robot (MFAR) is developed.The design of attitude controller is challenging due to the complexity of the flight process,and the heavy difficulties are system uncertainty,nonlinearity,multi-variable coupled parameters,and all kinds of disturbances.To control the attitude movement effectively,a global adaptive H∞ control strategy is constructed that the controller synthesis is based on Lyapunov function instead of solving the Hamilton-Jacobi-Isaacs(HJI) partial differential equation.The method overcomes the impact of time varying parameters and unknown disturbances to the system.Simulation results verify the validity of the dynamic model and the control strategy.

关键词： micro flapping-wing aerial robot(MFAR) dynamic model adaptive H∞ control attitude control

作者: Hongjun DUAN Deying GU 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,C

会议类型: 国际会议

会议名称: 2010 4th International Conference on Intelligent Information Techonlogy Application(第四届智能信息技术应用国际学术研讨会 IITA 2010)

会议地点: 秦皇岛

会议语种:英文

页码: 12-15

在线出版日期: 2010-11-05（万方平台首次上网日期，不代表论文的发表时间）