Adaptive pole placement pitch angle control of a flapping-wing flying robot
Adaptive pole placement pitch angle control of a flapping-wing flying robot
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DOI：
10.1080/01691864.2016.1196609
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发表时间：
2016-06
影响因子：
2
通讯作者：
A. Chand;M. Kawanishi;T. Narikiyo
中科院分区：
文献类型：
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作者：
A. Chand;M. Kawanishi;T. Narikiyo
摘要针对仿鸟扑翼飞行机器人的自适应俯仰角控制问题，设计并实现了一种自适应极点配置控制方案。这项工作的突出目标是值得注意的是双重的：首先，由于动态的鸟一样扑翼机器人仍然没有很好地理解，因此混淆的过程中获得一个高保真的空气动力学模型，我们选择指定的控制方案的系统识别组件，以提供实时估计的低级别的机器人参数。输入和输出数据在飞行过程中进行整理，并应用递归最小二乘法获得实时参数估计。估计的参数随后用于设计的控制律，通过多项式方法，我们规定所需的闭环特性方程使用自适应极点配置。其次，即使机器人的动态随时间变化，它是由自适应控制器考虑，而不需要执行调谐，因为比例增益值是自发产生的。首先使用数值模拟来辅助设计并验证控制方案的正确操作。然后，它被实现在一个真实的鸟一样的扑翼飞行机器人，实验结果与仿真结果表现出密切的一致性。
Graphical Abstract An adaptive pole placement control scheme for the adaptive pitch angle control of a bird-like flapping-wing flying robot is designed and implemented. The salient aims of this work are notably twofold: first, since the dynamics of bird-like flapping-wing robots are still not well understood and hence obfuscate the process of deriving a high-fidelity aerodynamical model, we instead elect to designate the system identification component of the control scheme to provide real-time estimates of the low level robot parameters. Input and output data are collated during flight and the recursive least squares method is applied to obtain real-time parameter estimates. Estimated parameters are subsequently used in designing the control law using adaptive pole placement via the polynomial method where we prescribe the desired closed-loop characteristic equation. Secondly, even if the dynamics of the robot varies over time, it is accounted by the adaptive controller without any need to perform tuning since proportional gain values are spontaneously generated. Numerical simulations are first used to assist the design and validate the correct operation of the control scheme. It is then implemented on a real bird-like flapping-wing flying robot; experimental results obtained exhibit close congruence with simulation results.