Loading...
Please wait, while we are loading the content...
Similar Documents
Flapping Wing Micro Air Vehicle ( FW-MAV ) State Estimation and Control with Heading and Altitude Hold
| Content Provider | Semantic Scholar |
|---|---|
| Author | Aurecianus, Steven Phan, Hoang Vu Kang, Tae-June Park, Hyung Chul |
| Copyright Year | 2018 |
| Abstract | In this work, small control board is specifically designed to control the flapping-wing micro air vehicle (FWMAV) called KUBeetle. In addition, remote control is also custom-built to transmit control command and receive flight data in real time. Then, a method to estimate the attitude and altitude is developed and used to control the behaviour of KUBeetle. The attitude estimation is obtained by combining gyroscope, accelerometer, and magnetometer measurement. While the altitude estimation is obtained by using ranging sensor combined with z-axis accelerometer. FW-MAV is a system with very high vibration noise which are generated by flapping motion and its body. Without using any mechanical damping, the sensors signals are filtered using low pass and Kalman filter. The altitude estimation is evaluated using ball screw driven linear motion guide system. Proportional-Derivative (PD) and proportional-integral-derivative (PID) control with feedback are implemented for attitude and altitude control, respectively. The KUBeetle can demonstrate hover flight and control its attitude and altitude. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.imavs.org/papers/2018/IMAV_2018_paper_21.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
