Insect-inspired flapping wing robots: autonomous flight control systems

本项目旨在为以昆虫为灵感的扑翼微型飞行器设计一种新颖的控制方案。这种类型的微型飞行器具有复杂的、周期性的、时变的和固有的不稳定的动力学，在硬件上建模和实现具有很大的挑战性。该项目将设计基于能量的自动镇定和任务相关控制，并开发以昆虫为灵感的非线性控制策略测试平台。预期成果将包括控制器设计中的新系统和控制理论、概念、原则和技术，可以为仿生扑翼系统提供可靠的飞行控制。

This project aims to design a novel control scheme for insect-inspired, flapping-wing, micro aerial vehicles. This type of micro aerial vehicle has complex, periodic, time-varying and inherently unstable dynamics, which are practically challenging to model and implement in hardware. This project will design energy-based automatic stabilization and task-dependent control, and develop the insect-inspired platform for testing nonlinear control strategies. The expected outcomes will include new system and control theories, concepts, principles and technologies in controller design that can provide reliable flight control for bio-inspired, flapping-wing systems.