NDLI: Free flight simulations and pitch and roll control experiments of a sub-gram flapping-flight micro aerial vehicle

Content Provider	IEEE Xplore Digital Library
Author	Hines, L.L. Arabagi, V. Sitti, M.
Copyright Year	2011
Description	Author affiliation: Mechanical Engineering Department and Robotics Institute, Carnegie Mellon University; USA (Sitti, M.) \|\| Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA; (Hines, L.L.) \|\| Mechanical Engineering Department, Carnegie Mellon University, USA (Arabagi, V.)
Abstract	Flapping-flight micro aerial vehicles (MAVs) pose an ongoing design problem to the scientific community, requiring careful consideration of both body structure and force production. Here, we examine a flapping MAV prototype with a passively rotating wing design. While at the current scale the lift force produced is not enough for liftoff, observing its performance under roll and pitch control can lead to insights on both the body design and the eventual free-flight implementation. As the production of roll and pitch torques are primarily uncoupled for this design, PID control is implemented in the roll and pitch directions individually on a custom designed single degree of freedom rig. By doing so, we show that the body structure is capable of sustaining independent wing amplitudes and that actuator input voltage bias shifting is successful experimentally on a dynamically driven wing. Through force compensation, the experimentally tested controller is mapped to a ½ scale simulated system, theoretically capable of free-flight. Though initial simulation results suggest high sensitivity to feedback noise, simulations show that decoupled roll and pitch controllers have potential as a minimal computational means for hovering and translational motion.
Starting Page	1
Ending Page	7
File Size	994703
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979816
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Prototypes Vehicles Resonant frequency Robots Gravity
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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
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