NDLI: Flapping flight for biomimetic robotic insects: part II-flight control design

Content Provider	IEEE Xplore Digital Library
Author	Xinyan Deng Schenato, L. Sastry, S.S.
Copyright Year	2004
Abstract	In this paper, we present the design of the flight control algorithms for flapping wing micromechanical flying insects (MFIs). Inspired by the sensory feedback and neuromotor structure of insects, we propose a similar top-down hierarchical architecture to achieve high performance despite the MFIs' limited on-board computational resources. The flight stabilization problem is formulated as high-frequency periodic control of an underactuated system. In particular, we provide a methodology to approximate the time-varying dynamics caused by the aerodynamic forces with a time-invariant model using averaging theory and a biomimetic parametrization of the wing trajectories. This approximation leads to a simpler dynamical model that can be identified using experimental data from the on-board sensors and the voltage inputs to the wing actuators. The overall control law is a periodic proportional output feedback. Simulations, including sensor and actuator models, demonstrate stable flight in hovering mode
Sponsorship	IEEE Robotics and Automation Society
Starting Page	789
Ending Page	803
Page Count	15
File Size	1927079
File Format	PDF
ISSN	15523098
Volume Number	22
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biomimetics Insects Control design Aerodynamics Biosensors Actuators Robot sensing systems Algorithm design and analysis Aerospace control Micromechanical devices periodic control Averaging biomimetic flapping flight micro-aerial vehicles (MAVs)
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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