Dynamics and stability of Bat-Scale Flapping Wing Hovering Robot
Dynamics and stability of Bat-Scale Flapping Wing Hovering Robot
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DOI：
10.1109/coase.2019.8843318
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发表时间：
2019-08
期刊：
影响因子：
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通讯作者：
H. Vejdani
中科院分区：
文献类型：
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作者：
H. Vejdani
针对控制输入受限的系统，设计了一种更新感知频率有限的离散反馈控制器。由于悬停轨道通常是不稳定的，寻找周期轨道可能会收敛到不受欢迎的行为。因此，为了收敛到期望的轨道，采用了多次激发技术。结果表明，每个翼拍周期更新一次反馈控制器就足以稳定即使是动态挑战的系统。
In this paper a discrete feedback controller with limited update sensing frequency is designed for a system with constrained control inputs. Since hovering orbits are generally unstable, finding the periodic trajectory can converge to an undesirable behavior. Therefore, multiple shooting technique is used to converge to the desired orbit. The results showed that updating the feedback controller once per wingbeat cycle is enough to stabilize even dynamically challenging systems.