Geometric control of a flapping plate
Geometric control of a flapping plate
复制标题
扑翼板的几何控制
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
C. Woolsey
中科院分区：
文献类型：
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作者：
Haithem E. Taha;C. Woolsey
扑翼微型飞行器的控制具有非线性和时变的特点。此外，作为内部驱动的多体系统，扑翼飞行器本身就存在驱动不足的问题。由于严格的重量和尺寸限制，执行机构机械化必须尽可能简单，这对控制设计提出了进一步的挑战。几何控制和平均理论可用于欠驱动非线性系统的控制律设计。本文研究了具有三自由度和两个作动器的扑翼板的控制设计。采用平均定理和几何控制方法对系统进行稳定控制。这个简单的例子展示了一种算法方法，可以在多学科设计优化框架中用于仿生车辆及其步态的设计。
Control of flapping micro-air-vehicles (MAVs) is challenging because the system models are nonlinear and time-varying. Moreover, as internally actuated multi-body systems, flapping MAVs are inherently underactuated. With stringent weight and size constraints, the actuator mechanization must be as simple as possible, introducing a further challenge for control design. Geometric control and averaging theory can be used to design control laws for underactuated nonlinear systems. In this work, we consider control design for a flapping plate with three degrees of freedom and two actuators. The averaging theorem and geometric control methods are used to stabilize and control the system. The simple example demonstrates an algorithmic approach that could be used within a multi-disciplinary design optimization framework for the design of biomimetic vehicles and their gaits.