Principles on Longitudinal Perching Dynamics of Fixed-Wing Flying Robots

Flying robot has been widely used for both civilian and military application due to its portability and high maneuverability. However, mission endurance decreases with shrinking size due to reduction in aerodynamic efficiency and poor energy density of battery. Inspired by birds perching after long-distance migration, extended mission duration would be desired if flying robot obtains the ability of perching. In present paper, longitudinal dynamics of fixed wing flying robot is explored in the process of post-stall perching. First, the longitudinal kinematical equations and dynamic equations are derived for the simplified model of a flying robot and solved using the methods of value iteration and time advancement. Then, typical perching trajectory is generated and features of perching behaviors are analyzed. Finally, an impact study is carried out to acquire the influence of approaching velocity and control sequence.