Abstract
This paper proposes an approach to analyze the dynamic stability and develop trajectory-tracking controllers for flapping-wing micro air vehicle (FWMAV). A multibody dynamics simulation framework coupled with a modified quasi-steady aerodynamic model was implemented for stability analysis, which was appended with flight control block for accomplishing various flight objectives. A gradient-based trim search algorithm was employed to obtain the trim conditions by solving the fully coupled nonlinear equations of motion at various flight speeds. Eigenmode analysis showed instability that grew with the flight speed in longitudinal dynamics. Using the trim conditions, we linearized dynamic equations of FWMAV to obtain the optimal gain matrices for various flight speeds using the linear-quadratic regulator (LQR) technique. The gain matrices from each of the linearized equations were used for gain scheduling with respect to forward flight speed. The reference tracking augmented LQR control was implemented to achieve transition flight tracking that involves hovering, acceleration, and deceleration phases. The control parameters were updated once in a wingbeat cycle and were changed smoothly to avoid any discontinuities during simulations. Moreover, trajectories tracking control was achieved successfully using a dual loop control approach. Control simulations showed that the proposed controllers worked effectively for this fairly nonlinear multibody system.
Highlights
In recent years, research and development involving bio-inspired aerospace systems have increased because of surging demands in micro and nano air vehicles for both commercial and military applications with stringent size, nimbleness, concealment, and space requirements
This section details the effect of simplified wing kinematics on longitudinal dynamics dynamics of of flapping-wing micro air vehicle (FWMAV) in in hovering hovering and and forward forward flight, flight, as as this this wing wing kinematics kinematics is is suitable suitable for for practical practical control
Dynamic stability analysis and flight control simulations were performed for a hawkmoth-like FWMAV model that considered the influence of time varying inertial effects of all the model’s parts
Summary
Research and development involving bio-inspired aerospace systems have increased because of surging demands in micro and nano air vehicles for both commercial and military applications with stringent size, nimbleness, concealment, and space requirements. These systems are expected to possess high agility, hovering capability, sudden obstruction avoidance, quick shifting from hovering to forward speed and vice versa, and moving object tracking with smart navigation. These exceptional features are common traits of nature-based flyers; scientists are trying to mimic their remarkable flights. Mimicking insects’ flight impose challenges in several fields that still need detailed attention, including low Reynolds number-based unsteady aerodynamics, mathematical modeling, flight dynamics, trim methodologies, control approaches, miniature hardware requirements, lightweight materials, and power system requirements.
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