NDLI: Analysis of a tunable impedance method for practical control of insect-inspired flapping-wing MAVs

Content Provider	IEEE Xplore Digital Library
Author	Mahjoubi, H. Byl, K.
Copyright Year	2011
Description	Author affiliation: Robotics Laboratory, Department of Electrical and Computer Engineering, University of California at Santa Barbara, 93106 USA (Mahjoubi, H.; Byl, K.)
Abstract	In the past decade, research into insect-inspired flapping-wing micro-aerial vehicles (FWMAV) has grown steadily, toward addressing unique challenges in morphological construction, force production, and control strategy. Remarkable results have emerged from work focused on generation of adequate lift force for levitation and vertical acceleration [1]; however, effective methods for motion control still remain an open problem. In this paper, we introduce and analyze a novel approach to FWMAV control problem that provides smooth, stable and independent flight in both vertical and horizontal maneuvers. Our insect-inspired MAV model employs a passive structure to adjust the angle of attack (AoA) of its wings. Further analysis of this design unveils its capability in creating significant amounts of net drag force without disturbing lift production. This is the foundation of ‘tunable impedance’ technique that allows us to independently control three basic motions. One controller regulates yaw and forward acceleration, utilizing intuitive PID control laws in order to control horizontal maneuvers. Lift force and corresponding vertical elevation changes are controlled by a second controller that modifies the frequency of a constant-amplitude, sinusoidal power stroke. A third controller stabilizes the vehicle's body pitch angle through biasing stroke angle of its wings, hence rejecting disturbances caused by fluctuations in the position of center of mass (CoM). Results of simulated experiments confirm that these three controllers together demonstrate exceptional ability in handling hovering or agile flight maneuvers - even in presence of moderate measurement noise. These results also suggest that employment of passive dynamics in the design of MAVs may not only reduce actuator bandwidth requirements - thus simplifying practical implementation of the vehicle - but also improve robustness to uncertainties in sensing and body morphology.
Starting Page	3539
Ending Page	3546
File Size	657494
Page Count	8
File Format	PDF
ISBN	9781612848006
ISSN	07431546
e-ISBN	9781612848013
e-ISBN	9781612847993
DOI	10.1109/CDC.2011.6160297
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Aerodynamics Drag Vehicles Actuators Frequency control Impedance Simulation Insect Flight Microrobotics Aerial Robotics Tunable Impedance Passive Dynamics Maneuverability Steering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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