Robust nonlinear control design for a minimally-actuated flapping-wing MAV in the longitudinal plane
Robust nonlinear control design for a minimally-actuated flapping-wing MAV in the longitudinal plane
复制标题
纵向平面最小驱动扑翼微型飞行器的鲁棒非线性控制设计
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
A. Serrani
中科院分区：
文献类型：
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作者：
A. Serrani
本文提出了一种非线性控制器的设计方法，用于仿昆虫扑翼微型飞行器模型在纵向平面内的鲁棒控制。在本文所考虑的模型中仅采用两种形式的致动：（i）可变翼拍频率和（ii）可变冲程平面角，这导致欠致动模型。从平均理论和跟踪有界反馈的方法相结合的固定结构的控制器的设计，提供鲁棒稳定的时间平均车辆模型所需的恒定配置。对于实际的飞行器模型，该方法提供了一个小振幅的周期轨道中心的设定点的鲁棒稳定，在仿真中验证。
We present in this paper the design of a nonlinear controller for robust control of an insect-like flapping-wing MAV model in the longitudinal plane. Only two forms of actuation are employed in the model considered herein: (i) variable wing-beat frequency and (ii) variable stroke plane angle, which result in an under-actuated model. Methodologies from averaging theory and tracking by bounded feedback are combined for the design of a controller of fixed structure that provides robust stabilization of a time-averaged vehicle model to a desired constant configuration. For the actual vehicle model, this method provides robust stabilization of a small-amplitude periodic orbit centered at the setpoint, as verified in simulation.