Abstract
This study presents attitude control research of flapping wing micro aerial vehicles with nonaffine-in-control characteristics via the active disturbance rejection control technique. With consideration of the uncertainties in moment of inertia caused by wings flapping and external disturbances, an extended state observer based on the unit quaternion is first designed to estimate the angular velocity and total uncertainties. The norm constraint on the unit quaternion can be guaranteed theoretically. The requirement of accurate value of moment of inertia is circumvented in the extended state observer. Based on the designed extended state observer, an output feedback controller using dynamic inversion method is presented to resolve the nonaffine-in-control characteristics caused by the uncertainties in moment of inertia. Rigorous closed-loop system stability is proven by employment of Lyapunov functions and the proposed control structure possesses the multi-time-scale property. Finally, numerical simulations are provided to validate the effectiveness and good tracking performance of the proposed control scheme.
Highlights
Inspired by the progressive ability of biologic fliers, researchers pay high attention to the development of flapping wing micro aerial vehicles (FWMAVs), and much progress has been made [1]–[3]
In view of the advantages of small size, low energy consumption and flexible deformation for specific tasks, FWMAVs can play a vital role in the military, geological exploration, emergency rescue, etc [4], [5]
We introduce the dynamic inversion approach aiming for dealing with the nonaffine-in-control characteristics of the attitude motion of FWMAVs
Summary
Inspired by the progressive ability of biologic fliers, researchers pay high attention to the development of flapping wing micro aerial vehicles (FWMAVs), and much progress has been made [1]–[3]. Considering the merits of ADRC scheme, how to deal with FWMAV attitude control with external disturbances and internal uncertainties including moment of inertia is a significant and challenging work. The unit quaternion is introduced to describe the attitude motion of FWMAVs. Firstly an ESO in terms of the unit quaternion is designed to estimate the angular velocity and total uncertainties including moment of inertial and external disturbances. We introduce the dynamic inversion control approach to resolve the nonaffinein-control characteristics of FWMAVs. The assumption that disturbances estimation is quick enough is not required, and rigorous proof for the multi-time-scale property and the closed-loop system stability is given.
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