Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle

Verboom, J.L.; Tijmons, Sjoerd; Wagter, Christophe De; Remes, B. D. W.; Babuška, Robert; Croon, Guido C. H. E. de

doi:10.1109/icra.2015.7140017

Cited by 38 publications

(28 citation statements)

References 10 publications

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“…Novel methods had to be found to overcome this. To lower the localization inaccuracies, mechanical damping and flapcycle-based filtering were introduced [28].…”

Section: Research Backgroundmentioning

confidence: 99%

Navigation and Applicability of Hexa Rotor Drones in Greenhouse Environment

Šimon

Petkovic

et al. 2018

Teh. vjesn.

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The paper discusses use-cases and a broad description of application possibilities of drones in greenhouses. Unmanned autonomous aerial vehicles (UAV), i.e. drones, are being used increasingly often for the direct or indirect collection of data. GPS navigation cannot be applied in an indoor work environment. One of the alternatives is to measure the distance from a fixed set of sensors with known positions. The paper presents a dynamic model for a hexa-rotor drone. In order to ensure reliable navigation a new navigation algorithm is presented based on the two-dimensional navigation algorithm of the robot motion control. It demonstrates the development of a threedimensional navigation algorithm for the hexa-rotor drone with the hypothesis that the elaborate three-dimensional model can navigate the drone in an indoor environment. To prove the hypothesis, the simulation is implemented in Scilab environment with information about the flight path deviation from the planned routes, which is also given in the work.

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“…Novel methods had to be found to overcome this. To lower the localization inaccuracies, mechanical damping and flapcycle-based filtering were introduced [28].…”

Section: Research Backgroundmentioning

confidence: 99%

Navigation and Applicability of Hexa Rotor Drones in Greenhouse Environment

Šimon

Petkovic

et al. 2018

Teh. vjesn.

View full text Add to dashboard Cite

show abstract

“…The coefficients of the formula were identified as: A amp =0.34, δ=0.35, η=0. 34. More details on this approximation can be found in Ref.…”

Section: Coefficient Valuementioning

confidence: 99%

“…Despite the significant maturation of technology, such FWMAVs still have very limited on-board processing capabilities, which, in turn, limit the use of complex control strategies for automatic and autonomous operations. These control strategies are typically characterized by simple proportional-integral-derivative (PID) controllers [34], which limit the flight regime to conditions very close to the linearized model [35]. More complex strategies, like non-linear dynamic inversion or unsteady aerodynamic models working atop kinematic information, are currently too computationally expensive for on-board control.…”

Section: Introductionmentioning

confidence: 99%

Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data

et al. 2016

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Flapping-wing aerodynamic models that are accurate, computationally efficient and physically meaningful, are challenging to obtain. Such models are essential to design flapping-wing micro air vehicles and to develop advanced controllers enhancing the autonomy of such vehicles. In this work, a phenomenological model is developed for the time-resolved aerodynamic forces on clap-and-fling ornithopters. The model is based on quasi-steady theory and accounts for inertial, circulatory, added mass and viscous forces. It extends existing quasi-steady approaches by: including a fling circulation factor to account for unsteady wing-wing interaction, considering real platform-specific wing kinematics and different flight regimes. The model parameters are estimated from wind tunnel measurements conducted on a real test platform. Comparison to wind tunnel data shows that the model predicts the lift forces on the test platform accurately, and accounts for wing-wing interaction effectively. Additionally, validation tests with real free-flight data show that lift forces can be predicted with considerable accuracy in different flight regimes. The complete parameter-varying model represents a wide range of flight conditions, is computationally simple, physically meaningful and requires few measurements. It is therefore potentially useful for both control design and preliminary conceptual studies for developing new platforms.

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“…So far, significant progress has been made in flight control of FWMAVs in both low-frequency flapping flight and gliding flights. [12][13][14][15][16][17][18][19] For low-frequency flapping mode, Baek et al 14 designed a closed-loop attitude control system using the proportional-integralderivative (PID) control technique. Without the help of external measurement instruments, the system gives an ornithopter the ability to fly towards a target using only onboard sensing and computation.…”

Section: Introductionmentioning

confidence: 99%

Active disturbance rejection attitude control for the dove flapping wing micro air vehicle in intermittent flapping and gliding flight

Liang

Song

Xuan

et al. 2020

International Journal of Micro Air Vehicles

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This paper proposes an attitude control scheme for the Dove flapping wing micro air vehicle in intermittent flapping and gliding flight. The Dove flapping wing micro air vehicle adopts intermittent flapping and gliding flight to make the wing movements more natural; this strategy also has the potential to reduce energy consumption. To implement this specific flight mode, this paper proposes a closed-loop active disturbance rejection control strategy to stabilize the attitude during the processes of flapping flight, transition and gliding flight. The active disturbance rejection control controller is composed of three parts: a tracking differentiator, a linear extended state observer and a nonlinear state error feedback controller. The tracking differentiator estimates the given target signal and the differential signal in real time. The extended state observer estimates the system states and system nonlinearity. Moreover, the bandwidth parameterization method is applied to determine the observer gains. The stability of the closed-loop system is verified using Lyapunov’s theorem. Several outdoor flight experiments have been conducted to verify the effectiveness of the proposed control method, and the results show that the proposed method can guarantee the stability of intermittent flapping and gliding flight.

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Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle

Cited by 38 publications

References 10 publications

Navigation and Applicability of Hexa Rotor Drones in Greenhouse Environment

Navigation and Applicability of Hexa Rotor Drones in Greenhouse Environment

Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data

Active disturbance rejection attitude control for the dove flapping wing micro air vehicle in intermittent flapping and gliding flight

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