Modeling and control of an ornithopter for diving

Rose, Cameron J.; Mahmoudieh, Parsa; Fearing, Ronald S.

doi:10.1109/iros.2016.7759165

Cited by 6 publications

(2 citation statements)

References 25 publications

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“…The control of flapping-wing flight vehicles has been receiving increasing attention from the research community over the last few decades [ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 , 9 ]. In this growing field, the literature has reported remarkable progress toward the design, construction, and control of flapping-wing aerial vehicles.…”

Section: Introductionmentioning

confidence: 99%

“…Nevertheless, many of its attractive motion properties also come at a price. For example, the airflow generated by the wings’ flapping increases the aerodynamics’ complexity around the flier’s control surfaces of the flier [ 6 ]. Undoubtedly, these challenges/difficulties need to be taken into account in the design of the controller algorithm.…”

Section: Introductionmentioning

confidence: 99%

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Attitude Control of Ornithopter Wing by Using a MIMO Active Disturbance Rejection Strategy

Gouvêa

Raptopoulos

Pinto

et al. 2023

Sensors

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This work proposes a mathematical solution for the attitude control problem of an ornithopter wing. An ornithopter is an artificial bird or insect-like aerial vehicle whose flight and lift movements are produced and maintained by flapping wings. The aerodynamical drag forces responsible for the flying movements are generated by the wing attitude and torques applied to its joints. This mechanical system represents a challenging problem because its dynamics consist of MIMO nonlinear equations with couplings in the input variables. For dealing with such a mathematical model, an Active Disturbance Rejection Control-based (ADRC) method is considered. The cited control technique has been studied for almost two decades and its main characteristics are the use of an extended state observer to estimate the nonmeasurable signals of the plant and a state-feedback control law in standard form fed by that observer. However, even today, the application of the basic methodology requires the exact knowledge of the plant’s control gain which is difficult to measure in the case of systems with uncertain parameters. In addition, most of the related works apply the ADRC strategy to Single Input Single Output (SISO) plants. For MIMO systems, the control gain is represented by a square matrix of general entries but most of the reported works consider the simplified case of uncoupled inputs, in which a diagonal matrix is assumed. In this paper, an extension of the ADRC SISO strategy for MIMO systems is proposed. By adopting such a control methodology, the resulting closed-loop scheme exhibits some key advantages: (i) it is robust to parametric uncertainties; (ii) it can compensate for external disturbances and unmodeled dynamics; (iii) even for nonlinear plants, mathematical analysis using Laplace’s approach can be always used; and (iv) it can deal with system’s coupled input variables. A complete mathematical model for the dynamics of the ornithopter wing system is presented. The efficiency of the proposed control is analyzed mathematically, discussed, and illustrated via simulation results of its application in the attitude control of ornithopter wings.

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