Inertial attitude control of a bat-like morphing-wing air vehicle

Abstract

Abstract.This article presents a novel bat-like micro air vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should maneuver by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Secondly, an attitude controller named backstepping+DAF is proposed. Motivated by the biological fact about the influence of wing inertia on the production of body accelerations, the attitude control law incorporates wing inertia information to produce desired roll (φ) and pitch (θ) acceleration commands (DAF function). This novel control approach is aimed at incrementing net body forces (F net ) that generate propulsion. Simulations and wind-tunnel experimental results have shown an increase about 23% in net body force production during the wingbeat cycle when the wings are modulated using the DAF function as a part of the backstepping control law. Results also confirm accurate attitude tracking in spite of high external disturbances generated by aerodynamic loads at airspeeds up to 5ms −1 . Inertial Attitude Control of a Bat-like Morphing-wing Micro Air Vehicle2

Stabilizing the spatial position of a quadrotor by the backstepping procedure

“…However, there is no information regarding the quality of the constructed regulator there. The control system, where the ratio controller is applied based on the reverse step algorithm and the desired function of angular accelerations, is used in a micro-machine like a bat, is presented in [11]. The gradient (steepest descent) approach is used in the control system of UAV [12]- [14].…”

Morphing wing models analysis and synthesis for the sustainable aeronautics industry

“…The use of softwares and use of control models are also shown in previous works. Colorado, J. et. al.…”

A review of modelling and analysis of morphing wings

“…The finitetime robust control was introduced to guarantee the flight stability instead of the traditional asymptotic stability. Simulation results showed that the proposed approach was effective for the morphing flight and achieved a proper trade-off between the control performance and elevator deflections.In the domain of folding wings, Colorado et al[111] proposed an attitude controller named backstepping with desired angular acceleration function as shown inFigure 11. Simulations and windtunnel experimental results showed an increase of about 23% in net body force production during the wingbeat cycle.…”