A new control framework for flapping-wing vehicles based on 3D pendulum dynamics
| Autor: | Robert J. Wood, Nak-seung Patrick Hyun, Rebecca McGill, Scott Kuindersma |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering Longitudinal static stability Pendulum 02 engineering and technology Aerodynamics 020901 industrial engineering & automation Flight dynamics Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Trajectory Aerodynamic drag Electrical and Electronic Engineering Center of pressure (fluid mechanics) |
| Zdroj: | Automatica. 123:109293 |
| ISSN: | 0005-1098 |
| Popis: | In this paper, a new control framework for an insect-scale flapping-wing vehicle is presented that exploits passive aerodynamic effects to stabilize the attitude dynamics. Many flapping-wing robotic flyers and flying insects share a common morphological feature in that the center of mass (CoM) is below the center of pressure (CoP), which makes the hovering configuration intrinsically unstable with open-loop control. Motivated by the fact that the CoM should be ahead of the CoP to ensure the longitudinal stability of the flight dynamics, a new coordinate system is proposed by placing a virtual control point (VCP) above the CoP. The dynamics in the new coordinates are derived using a near-identity diffeomorphism which admits a partial feedback linearization with stable zero dynamics. The behavior of the zero dynamics resembles the dynamics of a 3D pendulum with an aerodynamic damper. An adaptive controller is proposed to make the upright orientation almost globally asymptotically stable over a bounded uncertainty of the aerodynamic drag coefficient. The controller is evaluated in simulation with a Harvard RoboBee following a virtual control point reference trajectory. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full Text from ScienceDirect