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A new control framework for flapping-wing vehicles based on 3D pendulum dynamics
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DOI：10.1016/j.automatica.2020.109293.png)
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Abstract
En 中文
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. (c) 2020 Elsevier Ltd. All rights reserved.
Keywords:
Application of nonlinear analysis and
design
Flapping-wing vehicle
Partial feedback linearization
Minimum phase
Adaptive control
Tracking
3D pendulum
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