Experimental Demonstration of Perching by an Articulated Wing MAV

Paranjape, Aditya A.; Kim, Joseph; Gandhi, Nihar; Chung, Soon‐Jo

doi:10.2514/6.2011-6403

Cited by 21 publications

(17 citation statements)

References 12 publications

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“…Prior experiments by the authors [13], [26] demonstrated the feasibility of using the wing dihedral for longitudinal and lateraldirectional flight control and covered the two key elements of perching: control of flight path (γ) with controlled lateraldirectional control, and the pitch up. The theoretical foundations for the aircraft concept were laid in [22] and [23].…”

Section: Literature Reviewmentioning

confidence: 99%

Novel Dihedral-Based Control of Flapping-Wing Aircraft With Application to Perching

2013

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Abstract-We describe the design of an aerial robot inspired by birds and the underlying theoretical developments leading to novel control and closed-loop guidance algorithms for a perching maneuver. A unique feature of this robot is that it uses wing articulation to control the flight path angle as well as the heading angle. It lacks a vertical tail for improved agility, which results in unstable lateraldirectional dynamics. New closed-loop motion planning algorithms with guaranteed stability are obtained by rewriting the flight dynamic equations in the spatial domain rather than as functions of time, after which dynamic inversion is employed. It is shown that nonlinear dynamic inversion naturally leads to proportionalintegral-derivative controllers, thereby providing an exact method for tuning the gains. The capabilities of the proposed bioinspired robot design and its novel closed-loop perching controller have been successfully demonstrated with perched landings on a human hand.

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Section: Literature Reviewmentioning

confidence: 99%

Novel Dihedral-Based Control of Flapping-Wing Aircraft With Application to Perching

2013

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“…Obradovic and Subbarao [21,22] computed the power requirements for wing morphing under dynamic loading from maneuvers and identified cases under which morphing is more efficient than traditional control mechanisms. Nonflapping aircraft with fixed as well as articulated wings have been used extensively to study the perching maneuver [18,[23][24][25][26][27]52], which is unique to birds. The perching maneuver has the potential to be adapted by bird-scale micro aerial vehicles (MAVs) to significantly improve their portfolio of maneuvering and mission capabilities.…”

Section: Introductionmentioning

confidence: 99%

A Flight Mechanics-Centric Review of Bird-Scale Flapping Flight

Paranjape¹,

Dorothy²,

Chung³

et al. 2012

International Journal of Aeronautical and Space Sciences

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This paper reviews the flight mechanics and control of birds and bird-size aircraft. It is intended to fill a niche in the current survey literature which focuses primarily on the aerodynamics, flight dynamics and control of insect scale flight. We review the flight mechanics from first principles and summarize some recent results on the stability and control of birds and bird-scale aircraft. Birds spend a considerable portion of their flight in the gliding (i.e., non-flapping) phase. Therefore, we also review the stability and control of gliding flight, and particularly those aspects which are derived from the unique control features of birds.

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“…They concluded that the wing dihedral alone provides sufficient yaw control for trim, but also noted that the sign of the yaw control effectiveness changes as a function of the angle of attack and angular rates. Control laws for stabilizing and maneuvering an articulated wing aircraft have been presented in [3,8]. A roll control mechanism was demonstrated by Stanford et al [9] for an aircraft equipped with highly flexible membrane wings.…”

Section: A Literature Reviewmentioning

confidence: 99%

“…The present paper is concerned with the performance and stability during gliding flight, whereas work is currently in progress in parallel for the flapping phase. A separate analysis of the two flight phases would yield a complete picture of the dynamics of flapping flight, its performance capabilities, and limitations, and create a solid foundation for control design [2,3].…”

mentioning

confidence: 99%

Dynamics and Performance of Tailless Micro Aerial Vehicle with Flexible Articulated Wings

et al. 2012

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The purpose of this paper is to analyze and discuss the performance and stability of a tailless micro aerial vehicle with flexible articulated wings. The dihedral angles can be varied symmetrically on both wings to control the aircraft speed independently of the angle of attack and flight-path angle, while an asymmetric dihedral setting can be used to control yaw in the absence of a vertical tail. A nonlinear aeroelastic model is derived, and it is used to study the steadystate performance and flight stability of the micro aerial vehicle. The concept of the effective dihedral is introduced, which allows for a unified treatment of rigid and flexible wing aircraft. It also identifies the amount of elasticity that is necessary to obtain tangible performance benefits over a rigid wing. The feasibility of using axial tension to stiffen the wing is discussed, and, at least in the context of a linear model, it is shown that adding axial tension is effective but undesirable. The turning performance of an micro aerial vehicle with flexible wings is compared to an otherwise identical micro aerial vehicle with rigid wings. The wing dihedral alone can be varied asymmetrically to perform rapid turns and regulate sideslip. The maximum attainable turn rate for a given elevator setting, however, does not increase unless antisymmetric wing twisting is employed.

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Experimental Demonstration of Perching by an Articulated Wing MAV

Cited by 21 publications

References 12 publications

Novel Dihedral-Based Control of Flapping-Wing Aircraft With Application to Perching

Novel Dihedral-Based Control of Flapping-Wing Aircraft With Application to Perching

A Flight Mechanics-Centric Review of Bird-Scale Flapping Flight

Dynamics and Performance of Tailless Micro Aerial Vehicle with Flexible Articulated Wings

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