System Identification and Linear Time-Invariant Modeling of an Insect-Sized Flapping-Wing Micro Air Vehicle

被引：0
|
作者：
Finio, Benjamin M. [1 ,2 ]
Perez-Arancibia, Nestor O. [1 ,2 ]
Wood, Robert J. [1 ,2 ]
机构：
[1] Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
[2] Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA
来源：
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2011年
关键词：
DESIGN; AERODYNAMICS; MECHANISMS; FLIGHT; POWER;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Flapping-wing robots typically include numerous nonlinear elements, such as nonlinear geometric and aerodynamic components. For an insect-sized flapping-wing micro air vehicle (FWMAV), we show that a linearized model is sufficient to predict system behavior with reasonable accuracy over a large operating range, not just locally around the linearization state. The theoretical model is verified against an identified model from a prototype robotic fly and implications for vehicle design are discussed.
引用
收藏
页码：1107 / 1114
页数：8
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