Modeling and Nonlinear Control of Highly Maneuverable Bio-inspired Flapping-wing Micro Air Vehicles
Author | : Mubarak Alkitbi |
Publisher | : |
Total Pages | : 157 |
Release | : 2015 |
Genre | : |
ISBN | : |
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Over the past decade, the promise of achieving the level of maneuverability exhibited in insect flight has prompted the research community to develop bio-inspired flapping-wing micro air vehicles (FW-MAVs) . Flying insects employ their wings to produce lift to perform complex maneuvers. Mimicking insect capabilities could enable FW-MAVs to perform missions in tight spaces and cluttered environments, otherwise unattainable by fixed- or rotary-wing UAVs. The inherent mechanism of flapping-wing flight requires periodically-varying actuation, requiring the use of averaging methods for analysis and design of controllers for flapping-wing MAVs. The main objective of this research is establishing a rigorous theoretical framework from a control theory point of view that combines averaging theory and robust nonlinear control theory towards the design of flight controllers for general models of FW-MAVs. The point of departure of this work is the adoption of Kane's method to obtain equations of motion for multi-actuated, multi-body flapping-wing MAVs. The first contribution of the present work is the formulation of a framework which investigates the effect of multiple actuation, including the presence of a movable appendage (abdomen), on vehicle controllability. The resulting formulation establishes a mathematically precise framework which lays the groundwork for the development of theoretically sound control design strategies.