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Flapping flight for biomimetic robotic insects: part II-flight control design

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3 Author(s)
Xinyan Deng ; Dept. of Mech. Eng., Delaware Univ., Newark, DE ; Schenato, L. ; Sastry, S.S.

In this paper, we present the design of the flight control algorithms for flapping wing micromechanical flying insects (MFIs). Inspired by the sensory feedback and neuromotor structure of insects, we propose a similar top-down hierarchical architecture to achieve high performance despite the MFIs' limited on-board computational resources. The flight stabilization problem is formulated as high-frequency periodic control of an underactuated system. In particular, we provide a methodology to approximate the time-varying dynamics caused by the aerodynamic forces with a time-invariant model using averaging theory and a biomimetic parametrization of the wing trajectories. This approximation leads to a simpler dynamical model that can be identified using experimental data from the on-board sensors and the voltage inputs to the wing actuators. The overall control law is a periodic proportional output feedback. Simulations, including sensor and actuator models, demonstrate stable flight in hovering mode

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Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 4 )