TY - GEN
T1 - Adaptive robust wing trajectory control and force generation of flapping wing MAV
AU - Zhang, Jian
AU - Cheng, Bo
AU - Yao, Bin
AU - Deng, Xinyan
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - The prominent maneuverability of flapping flight is enabled by rapid and significant changes in aerodynamic forces, which is a result of surprisingly subtle and precise changes of wing kinematics. The high sensitivity of aerodynamic forces to wing kinematic changes demands precise and instantaneous control of the flapping wing trajectories, especially in the presence of various types of uncertainties. In this work, we first present a dynamic model of a pair of direct-motor-driven flapping wings while taking into consideration the parameter uncertainties and external disturbances. We then present an Adaptive Robust Controller (ARC) to achieve robust performance of high-frequency (over 30Hz) instantaneous wing trajectory tracking with onboard feedback. The proposed control algorithm was experimentally validated on a 7.5 gram flapping-wing MAV which showed excellent tracking of various wing trajectories with different amplitude, bias, frequency, and split-cycles. Experimental results on various model wings demonstrated that the ARC can adapt to unknown parameters and show no performance degradation across wings of different geometries. The results of ARC were also compared with those of open-loop and classical PID controllers.
AB - The prominent maneuverability of flapping flight is enabled by rapid and significant changes in aerodynamic forces, which is a result of surprisingly subtle and precise changes of wing kinematics. The high sensitivity of aerodynamic forces to wing kinematic changes demands precise and instantaneous control of the flapping wing trajectories, especially in the presence of various types of uncertainties. In this work, we first present a dynamic model of a pair of direct-motor-driven flapping wings while taking into consideration the parameter uncertainties and external disturbances. We then present an Adaptive Robust Controller (ARC) to achieve robust performance of high-frequency (over 30Hz) instantaneous wing trajectory tracking with onboard feedback. The proposed control algorithm was experimentally validated on a 7.5 gram flapping-wing MAV which showed excellent tracking of various wing trajectories with different amplitude, bias, frequency, and split-cycles. Experimental results on various model wings demonstrated that the ARC can adapt to unknown parameters and show no performance degradation across wings of different geometries. The results of ARC were also compared with those of open-loop and classical PID controllers.
UR - http://www.scopus.com/inward/record.url?scp=84938257432&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938257432&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7140018
DO - 10.1109/ICRA.2015.7140018
M3 - Conference contribution
AN - SCOPUS:84938257432
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5852
EP - 5857
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -