Controllability issues for insect like Flapping wing Micro-air Vehicle

Ming-lang, HU; Wei, Ruixuan; Shi, Zhongzheng; Ling-yun, Zou

doi:10.1109/wcica.2008.4593889

2008 7th World Congress on Intelligent Control and Automation 2008

DOI: 10.1109/wcica.2008.4593889

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Controllability issues for insect like Flapping wing Micro-air Vehicle

HU Ming-lang

Ruixuan Wei

Zhongzheng Shi

et al.

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2010

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A Passive Dynamic Approach for Flapping-Wing Micro-Aerial Vehicle Control

Byl

2010

ASME 2010 Dynamic Systems and Control Conference, Volume 1

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This article outlines a new control approach for flapping-wing micro-aerial vehicles (MAVs), inspired both by biological systems and by the need for lightweight actuation and control solutions. In our approach, the aerodynamic forces required for agile motions are achieved indirectly, by modifying passive impedance properties that couple motion of the power stroke to the angle of attack (AoA) of the wing. This strategy is theoretically appealing because it can exploit an invariant, cyclical power stroke, for efficiency, and because an impedance-adjusting strategy should also require lower bandwidth, weight, and power than direct, intra-wingbeat control of AoA. We examine the theoretical range of control torques and forces that can be achieved using this method and conclude that it is a plausible method of control. Our results demonstrate the potential of a passive dynamic design and control approach in reducing mechanical complexity, weight and power consumption of an MAV while achieving the aerodynamic forces required for the types of high-fidelity maneuvers that drive current interest in autonomous, flapping-wing robotics. NOMENCLATURE c(r) Chord length of wing, at radius r c m (r) Mean chord position, at radius r COP Center of pressure on wing during flappinḡ c w Normalized mean chord length ω w Flapping frequency (rad/s)

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A Passive Dynamic Approach for Flapping-Wing Micro-Aerial Vehicle Control

Byl

2010

ASME 2010 Dynamic Systems and Control Conference, Volume 1

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show abstract

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Controllability issues for insect like Flapping wing Micro-air Vehicle

Cited by 1 publication

References 7 publications

A Passive Dynamic Approach for Flapping-Wing Micro-Aerial Vehicle Control

A Passive Dynamic Approach for Flapping-Wing Micro-Aerial Vehicle Control

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