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

页码：1107 / 1114

页数：8

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