Dynamics Analysis and Control of a Bird Scale Underactuated Flapping-Wing Vehicle

被引：15
|
作者：
He, Guangping [1 ]
Su, Tingting [1 ]
Jia, Taoming [1 ]
Zhao, Lei [1 ]
Zhao, Quanliang [1 ]
机构：
[1] North China Univ Technol, Dept Mech & Elect Engn, Beijing 100144, Peoples R China
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2020年 / 28卷 / 04期
关键词：
Aerodynamics; Birds; Vehicle dynamics; Insects; Kinematics; Numerical models; Prototypes; Control; dynamics; flapping wing; underactuation; vehicles; BIOMIMETIC ROBOTIC INSECTS; FLIGHT DYNAMICS; AERIAL VEHICLE; DESIGN; STABILITY; ROTATION; MODEL;
D O I：
10.1109/TCST.2019.2908145
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the dynamics modeling, analysis, and control of bird scale flapping-wing vehicles (FWVs) are investigated. On the basis of quasi-steady-state aerodynamic theory, the dynamics model of the FWV with flat plate wings is presented. By qualitatively analyzing the properties of the dynamics and quantitatively analyzing the relationships between the inputs and outputs of the FWV, a saturated feedback controller based on dynamic compensators is proposed. By theoretical analysis, numerical simulations, and prototype experiments, the modeling method and the stability of the presented controller have been verified.
引用
收藏
页码：1233 / 1242
页数：10
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