NDLI: Controllability analysis for a flapping-wing mav with power and control actuators

Content Provider	IEEE Xplore Digital Library
Author	Oppenheimer, M.W. Sigthorsson, D.O. Doman, D.B.
Copyright Year	2010
Description	Author affiliation: Control Design & Anal. Branch, Air Force Res. Lab., Wright-Patterson AFB, OH, USA (Oppenheimer, M.W.; Sigthorsson, D.O.; Doman, D.B.)
Abstract	The world's first robotic insect capable of vertical takeoff was developed and demonstrated by the Harvard Microrobotics Lab. This vehicle consisted of a single power actuator that drove both wings symmetrically. In this case, there was no method to generate body torques, only lift could be modulated. The Harvard Microrobotics Lab has modified this configuration to include not only a single power actuator, but also control actuators for each wing, with the ultimate goal of being able to generate body torques. The objective of this work is to analyze the controllability of a flapping-wing micro air vehicle equipped with a power actuator to provide the mechanical power for flapping as well as left and right control actuators. The control actuators cause a small displacement of the wing root which causes a change to the wing kinematics, such that pitch and yaw torques can be generated.
Starting Page	33
Ending Page	38
File Size	988726
Page Count	6
File Format	PDF
ISBN	9781424474264
ISSN	07431619
e-ISBN	9781424474271
DOI	10.1109/ACC.2010.5530674
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Controllability Actuators Vehicles Torque control Kinematics Design engineering Power engineering and energy Control design Robots Insects
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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