Decoupled Control for Insect-like Flapping Wing Air Vehicles
HU Ming-lang1, ZHOU Xiang-dong1, WEI Rui-xuan1,2, WANG Qiang1, SHEN Dong1, ZHOU Xin-li1
1. The Third Department of Engineering Institute, Air Force Engineering University, Xi’an 710038, China; 2. School of Electronic and Information Engineering, Xi’an Jiaotong University, Xi’an 710049, China
Abstract:In order to solve the underactuation problem in flight control of insect-like flapping wing micro air vehicle (FMAV),a periodic time-varying feedback control strategy based on averaging theory is proposed to control the FMAV and the input parametric design method for the controller is given.The approach control the six forces and torques of the FMAV independently by adjusting wing kinematics parameters based on simulating the flapping motion of flying insect.It is essentially that the input of the underactuated system is parameterized to design periodic time-varying feedback function, and then more independent control parameters can be introduced into the original system to make it completely controllable. Then the controllable system is linearised and the control law is designed by standard linear feedback controller design tools. Simulation results demonstrate that the controller designed by such strategy has such characteristics as rapid response,small steady-state error and strong robustness.
[1] Sane S P.The aerodynamics of insect flight[J].The Journal of Experimental Biology,2003,206(23):4191~4208.
[2] Sane S P,Dickinson M H.The control of flight force by a flapping wing:Lift and drag production[J].The Journal of Experimental Biology,2001,204(15):2607~2626.
[3] Taylor G K.Mechanics and aerodynamics of insect flight control[J].Biological Reviews,2001,76(4):449~471.
[4] Deng X Y,Schenato L,Wu W C,et al.Flapping flight for biomimetic robotic insects:Part Ⅰ-System modeling[J].IEEE Transactions on Robotics,2006,22(4):776~788.
[5] Deng X Y,Schenato L,Sastry S S.Flapping flight for biomimetic robotic insects:Part Ⅱ-Flight control design[J].IEEE Transactions on Robotics,2006,22(4):789~803.
[6] [6] 胡跃明,胡终须,毛宗源,等.非线性控制系统的近似化方法[J].控制理论与应用,2001,18(2):160~165.Hu Yue-ming,Hu Zhong-xu,Mao Zong-yuan,et al.Approximation methods of nonlinear control systems[J].Control Theory and Applications,2001,18(2):160~165.
[7] 胡明朗,魏瑞轩,周炜,等.微型仿昆扑翼飞行器控制I:操控机制[A].第26届中国控制会议论文集[C].北京:北京航空航天大学出版社,2007.643~648.Hu Ming-lang,Wei Rui-xuan,Zhou Wei,et al.Control of insect-like flapping wing micro air vehicles I:Control mechanic[A].Proceedings of the 26th Chinese Control Conference[C].BeLling:BeiHang University Press,2007.643~648.
[8] Brockett R W.Asymptoticstability and feedback stabilizatio[DB /OL].http://hrl.harvard.edu/publications/brockett83asymototic.pdf.
[9] Murray R M,Sastry S S.Nonholonomic motion planning:Steering using sinusoids[J].IEEE Transactions on Automatic Control,1993,38(5):700~716.
[10] Sanders J A,Verhulst F.Averaging Methods in Nonlinear Dynamical Systems[M].NY,USA:Springer-Verlag,1985.
[11] Vela P A.Averaging and Control of Nonlinear Systems (with Application to Biomimetic Locomotion)[D].California,USA:California Institute of Technology,2003.
[12] Murray R M,Li Z X,Sastry S S.A Mathematical Introduction to Robotic Manipulation[M].Boca Raton,FL,USA:CRC Press,Inc.,1994.
[13] Schenato L,Campolo D,Sastry S.Controllability issues in flapping flight for biomimetic micro aerial vehicles (MAVs)[A].Proceedings of the IEEE Conference on Decision and Control[C].Piscataway,NJ,USA:IEEE,2003.6441~6447.
[14] Sane S P,Dickinson M H.The aerodynamic effects of wing rotation and a revised quasi-steady model of flapping flight[J].The Journal of Experimental Biology,2002,205(8):1087~1096.
[15] Dickinson M H,Lehmann F-O,Sane S E Wing rotation and the aerodynamic basis of insect flight[J].Science,1999,284(5422):1954~1960.
[16] 苟兴禹,胡明朗,魏瑞轩.虚拟微型扑翼飞行器建模仿真[J].系统仿真学报,2007,19(13):2877~2880,2912.Gou Xin-yu,Hu Ming-lang,Wei Rui-xuan.Modeling and simulation of virtual flapping wing micro air vehicle[J].Journal of System Simulation,2007,19(13):2877~2880,2912.