A new control framework for flapping-wing vehicles based on 3D pendulum dynamics
A new control framework for flapping-wing vehicles based on 3D pendulum dynamics
复制标题
基于3D摆动力学的新型扑翼飞行器控制框架
DOI：
10.1016/j.automatica.2020.109293
复制
发表时间：
2021
期刊：
影响因子：
6.4
通讯作者：
Kuindersma, Scott
中科院分区：
文献类型：
--
作者：
Hyun, Nak-seung P.;McGill, Rebecca;Wood, Robert J.;Kuindersma, Scott
针对昆虫尺度扑翼飞行器，提出了一种利用被动气动效应稳定姿态动力学的新控制框架。许多扑翼飞行机器人和飞行昆虫都有一个共同的形态特征，即质心(COM)低于压力中心(COP)，这使得开环控制下的悬停姿态本质上不稳定。基于COM应领先于COP以确保飞行动力学的纵向稳定性，通过在COP上方放置虚拟控制点(VCP)，提出了一种新的坐标系。在新坐标下的动力学是利用近似恒等式微分同胚导出的，它允许具有稳定零动态的部分反馈线性化。零动力学的行为类似于带有空气动力阻尼器的三维摆的动力学。提出了一种自适应控制器，使直立姿态在气动阻力系数的有界不确定性范围内几乎全局渐近稳定。在哈佛机器蜂跟踪虚拟控制点参考轨迹的仿真中对控制器进行了评估。
In this paper, a new control framework for an insect-scale flapping-wing vehicle is presented that exploits passive aerodynamic effects to stabilize the attitude dynamics. Many flapping-wing robotic flyers and flying insects share a common morphological feature in that the center of mass (CoM) is below the center of pressure (CoP), which makes the hovering configuration intrinsically unstable with open-loop control. Motivated by the fact that the CoM should be ahead of the CoP to ensure the longitudinal stability of the flight dynamics, a new coordinate system is proposed by placing a virtual control point (VCP) above the CoP. The dynamics in the new coordinates are derived using a near-identity diffeomorphism which admits a partial feedback linearization with stable zero dynamics. The behavior of the zero dynamics resembles the dynamics of a 3D pendulum with an aerodynamic damper. An adaptive controller is proposed to make the upright orientation almost globally asymptotically stable over a bounded uncertainty of the aerodynamic drag coefficient. The controller is evaluated in simulation with a Harvard RoboBee following a virtual control point reference trajectory.
昆虫大小扑翼微型飞行器的系统辨识与线性时不变建模
DOI：
10.1109/iros.2011.6094421
发表时间：
2011
期刊：
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
B. Finio;N. O. Pérez;R. Wood
通讯作者：
R. Wood
Bee：由双联 Unimorph 执行器驱动的 95 毫克四翼昆虫级飞行机器人
影响因子：
5.2
作者：
Xiufeng Yang;Ying Chen;L. Chang;Ariel A. Calderón;N. O. Pérez
通讯作者：
N. O. Pérez
亚克级扑翼微型飞行器自由飞行模拟及俯仰滚转控制实验
DOI：
--
发表时间：
2011
期刊：
IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
L. Hines;V. Arabagi;M. Sitti
通讯作者：
M. Sitti