Robust Linear Longitudinal Feedback Control of a Flapping Wing Micro Air Vehicle

Abstract

AbstractThis paper falls under the idea of introducing biomimetic miniature air vehicles in ambient assisted living and home health applications. The concepts of active disturbance rejection control and flatness based control are used in this paper for the trajectory tracking tasks in the flapping-wing miniature air vehicle (FWMAV) time-averaged model. The generalized proportional integral (GPI) observers are used to obtain accurate estimations of the flat output associated phase variables and of the time-varying disturbance signals. This information is used in the proposed feedback controller in (a) approximate, yet close, cancelations, as lumped unstructured time-varying terms, of the influence of the highly coupled nonlinearities and (b) the devising of proper linear output feedback control laws based on the approximate estimates of the string of phase variables associated with the flat outputs simultaneously provided by the disturbance observers. Numerical simulations are provided to illustrate the effectiveness of the proposed approach.KeywordsDisturbance ObserverAmbient Assisted LivingLinear Quadratic GaussianActive Disturbance Rejection ControlPerturbation InputThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.