Efficient Flight Control via Mechanical Impedance Manipulation: Energy Analyses for Hummingbird-Inspired MAVs

Abstract

Within the growing family of unmanned aerial vehicles (UAV), flapping-wing micro aerial vehicles (MAV) are a relatively new field of research. Inspired by small size and agile flight of insects and birds, these systems offer a great potential for applications such as reconnaissance, surveillance, search and rescue, mapping, etc. Nevertheless, practicality of these vehicles depends on how we address various challenges ranging from control methodology to morphological construction and power supply design. A reasonable approach to resolving such problems is to acquire further inspiration from solutions in nature. Through modeling synchronous muscles in insects, we have shown that manipulation of mechanical impedance properties at wing joints can be a very efficient method for controlling lift and thrust production in flapping-wing MAVs. In the present work, we describe how this approach can be used to decouple lift/thrust regulation, thus reducing the complexity of flight controller. Although of simple design, this controller is still capable of demonstrating a high degree of precision and maneuverability throughout various simulated flight experiments with different types of trajectories. Furthermore, we use these flight simulations to investigate the power requirements of our control approach. The results indicate that these characteristics are considerably lower compared to when conventional control strategies--methods that often rely on manipulating stroke properties such as frequency or magnitude of the flapping motion--are employed. With less power demands, we believe our proposed control strategy is able to significantly improve flight time in future flapping-wing MAVs.