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Dynamics and control of a biomimetic single-wing nano air vehicle

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2 Author(s)
Kingsley Fregene ; Lockheed Martin Advanced Technology Laboratories, 3 Executive Campus, Ste 600, Cherry Hill, New Jersey, 08002, USA ; Cortney L. Bolden

This paper describes the Samarai - a rotating mono-wing nano air vehicle (NAV) designed at Lockheed Martin Advanced Technology Laboratories. Challenges uniquely associated with developing this type of vehicle are identified and a dynamic modeling and control synthesis procedure is described for tackling them. It is shown that, by modeling the rotating wing as a lower-complexity spinning disk, and using the disk states for feedback control, a very simple control design results. This approach is validated in simulation of flight maneuvers that include vertical, hovering and translational motion segments.

Published in:

Proceedings of the 2010 American Control Conference

Date of Conference:

June 30 2010-July 2 2010