By Topic

Dynamic model and attitude control of Flapping Wing Micro Aerial Vehicle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hongjun Duan ; Dept. of Autom. Eng., Northeastern Univ. at Qinhuangdao, Qinhuangdao, China ; Qingwei Li

The flying mechanism of birds and big insects, especially the rules of wings motion in flight, are investigated, and some details of mechanical frame are also considered. The entire dynamic model of flight attitude of flapping wing micro aerial vehicle (FWMAV) is developed. The design of attitude controller is challenging due to the complexity of the flight process, and the heavy difficulty includes the system uncertainty, nonlinearity, multi-variable coupled parameters, and all kinds of disturbances. To control the attitude movement effectively, an adaptive robust control scheme is proposed to decompose the system into nominal model, structured uncertainties, and unstructured uncertainty. For them, direct feedback controller, adaptive controller, and robust controller are constructed respectively. Simulation results are presented to verify the validity of the dynamic model and the control strategy.

Published in:

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Date of Conference:

19-23 Dec. 2009