Modeling and control of a flapping wing robot

Bakhtiari, Abdolbaghi; Haghighi, Shahram Ehtemadi; Maghsoudpour, Adel

doi:10.1177/1464419318793503

Cited by 6 publications

(2 citation statements)

References 14 publications

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“…Besides, the dynamics and kinematics of FWAVs are so complex that a large number of dynamic models have been presented in the literature [6,[22][23][24][25]. Due to this complexity, the authors of most previous studies consider fixed-wing models, without taking the intra-flapping processes [26] or the heading actuator dynamics [27] into account.…”

Section: Introductionmentioning

confidence: 99%

Vector Field Aided Trajectory Tracking by a 10-gram Flapping-Wing Micro Aerial Vehicle

Ndoye

Castillo-Zamora

Laki

et al. 2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

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HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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Section: Introductionmentioning

confidence: 99%

Vector Field Aided Trajectory Tracking by a 10-gram Flapping-Wing Micro Aerial Vehicle

Ndoye

Castillo-Zamora

Laki

et al. 2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

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“…This result was found by relaxing the common assumption that neglected the wing inertial effects and directly averaged the dynamics over the flapping cycle. Bakhtiari et al studied the modeling focusing on the aerodynamics effects on the edge of the tail, experimentally [36]. All the dynamics modeling (some works with the experimental investigation on lift, drag, and aerodynamics) and control implementations (mostly in theoretical schemes and simulations) lead the researchers towards carrying more weight to state-dependent Riccati equation: Flapping-wing flying robot control."…”

Section: Introductionmentioning

confidence: 99%

Combination of terminal sliding mode and finite-time state-dependent Riccati equation: Flapping-wing flying robot control

Nekoo

Acosta

Ollero

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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A novel terminal sliding mode control is introduced to control a class of nonlinear uncertain systems in finite time. Having command on the definition of the final time as an input control parameter is the goal of this work. Terminal sliding mode control is naturally a finite-time controller though the time cannot be set as input, and the convergence time is not exactly known to the user before execution of the control loop. The sliding surface of the introduced controller is equipped with a finite-time gain that finishes the control task in the desired predefined time. The gain is found by partitioning the state-dependent differential Riccati equation gain, then arranging the sub-blocks in a symmetric positive-definite structure. The state-dependent differential Riccati equation is a nonlinear optimal controller with a final boundary condition that penalizes the states at the final time. This guides the states to the desired condition by imposing extra force on the input control law. Here the gain is removed from standard state-dependent differential Riccati equation control law (partitioned and made symmetric positive-definite) and inserted into the nonlinear sliding surface to present a novel finite-time terminal sliding mode control. The stability of the proposed terminal sliding mode control is guaranteed by the definition of the adaptive gain of terminal sliding mode control, which is limited by the Lyapunov stability condition. The proposed approach was validated and compared with state-dependent differential Riccati equation and conventional terminal sliding mode control as independent controllers, applied on a van der Pol oscillator. The capability of the proposed approach of controlling complex systems was checked by simulating a flapping-wing flying robot. The flapping-wing flying robot possesses a highly nonlinear model with uncertainty and disturbance caused by flapping. The flight assumptions also limit the input law significantly. The proposed terminal sliding mode control successfully controlled the illustrative example and flapping-wing flying robot model and has been compared with state-dependent differential Riccati equation and conventional terminal sliding mode control.

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LQR Controller for Stabilization of Bio-Inspired Flapping Wing UAV in Gust Environments

Abbasi¹,

Mahmood²,

Khaliq³

et al. 2022

J Intell Robot Syst

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Modeling and control of a flapping wing robot

Cited by 6 publications

References 14 publications

Vector Field Aided Trajectory Tracking by a 10-gram Flapping-Wing Micro Aerial Vehicle

Vector Field Aided Trajectory Tracking by a 10-gram Flapping-Wing Micro Aerial Vehicle

Combination of terminal sliding mode and finite-time state-dependent Riccati equation: Flapping-wing flying robot control

LQR Controller for Stabilization of Bio-Inspired Flapping Wing UAV in Gust Environments

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