Abstract
To solve the attitude control problem of bird-like flapping wing micro air vehicles (FWMAVs) during automatic landing, an active disturbance rejection control (ADRC) architecture is proposed in this paper. This control scheme takes into account the attitude control of flapping, transition and gliding modes in the process of automatic landing. To verify the control effect, the aerodynamic estimation method of the flapping wing based on quasi-steady theory and the dynamics of an FWMAV in Lagrangian form are applied in the simulation. The proposed control architecture consists of two independent ADRC controllers to stabilize the attitude of the pitch and roll channels. The system disturbance and the coupling effects between channels are estimated by an extended state observer (ESO) and compensated in real time in the control output. The convergence of the ESO and ADRC is proven. Simulation results show that even if the aircraft is in different flight modes, the ADRC controller can track the target trajectory quickly and accurately. Then, to realize automatic landing in a real environment, a simplified two-stage landing trajectory is designed. A landing test is carried out on this basis. The test results show that ADRC can not only stabilize the flight attitude in flapping mode but also obtain a satisfactory control accuracy and convergence speed when the aircraft is in the transition and gliding modes, confirming its usefulness in automatic landing.
Highlights
Flapping wing micro air vehicles (FWMAVs) are bionic aircraft that generate lift and thrust through the active movement of wings [1]
In this paper, an attitude control architecture based on active disturbance rejection control (ADRC) is designed for a bird-like FWMAV in different flight modes
To stabilize the attitude of the FWMAV, two independent ADRC controllers are used for attitude control of the roll and pitch channels
Summary
Flapping wing micro air vehicles (FWMAVs) are bionic aircraft that generate lift and thrust through the active movement of wings [1]. Few scholars have considered attitude control of these three modes simultaneously during the landing process To solve this problem, a control architecture based on the active disturbance rejection control (ADRC) method is proposed in this paper. The main contributions are as follows: (1) An ADRC architecture is applied to the attitude control of bird-like FWMAVs during automatic landing, which involves the flapping mode, transition mode and gliding mode. Based on this landing strategy, flight tests are conducted, and the results are discussed. Based on the angular motion equation (16), the attitude control of the FWMAV in flapping mode, transition mode and gliding mode during the landing process is studied in the following parts of this paper. Ensuring that the attitude controller can adapt to the change in dynamic characteristics is the key to a successful automatic landing
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