System identification and linear time-invariant modeling of an insect-sized flapping-wing micro air vehicle
System identification and linear time-invariant modeling of an insect-sized flapping-wing micro air vehicle
复制标题
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
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
R. Wood
中科院分区：
文献类型：
--
作者：
B. Finio;N. O. Pérez;R. Wood
扑翼机器人通常包括许多非线性元件，例如非线性几何和空气动力学组件。对于昆虫大小的扑翼微型飞行器（FWMAV），我们证明线性化模型足以在大操作范围内以合理的精度预测系统行为，而不仅仅是局部围绕线性化状态。该理论模型根据原型机器人苍蝇的识别模型进行了验证，并讨论了对车辆设计的影响。
Flapping-wing robots typically include numerous nonlinear elements, such as nonlinear geometric and aerodynamic components. For an insect-sized flapping-wing micro air vehicle (FWMAV), we show that a linearized model is sufficient to predict system behavior with reasonable accuracy over a large operating range, not just locally around the linearization state. The theoretical model is verified against an identified model from a prototype robotic fly and implications for vehicle design are discussed.