Title :
Robust nonlinear control design for a minimally-actuated flapping-wing MAV in the longitudinal plane
Author_Institution :
Department of Electrical & Computer Engineering, 2015 Neil Ave., The Ohio State University, Columbus, 43210, USA
Abstract :
We present in this paper the design of a nonlinear controller for robust control of an insect-like flapping-wing MAV model in the longitudinal plane. Only two forms of actuation are employed in the model considered herein: (i) variable wing-beat frequency and (ii) variable stroke plane angle, which result in an under-actuated model. Methodologies from averaging theory and tracking by bounded feedback are combined for the design of a controller of fixed structure that provides robust stabilization of a time-averaged vehicle model to a desired constant configuration. For the actual vehicle model, this method provides robust stabilization of a small-amplitude periodic orbit centered at the setpoint, as verified in simulation.
Keywords :
Computational modeling; Mathematical model; Orbits; Robustness; Simulation; Vehicle dynamics; Vehicles;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL, USA
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160856