Control of a Flapping-Wing Micro Air Vehicle: Sliding-Mode Approach
2018; American Institute of Aeronautics and Astronautics; Volume: 41; Issue: 5 Linguagem: Inglês
10.2514/1.g003160
ISSN1533-3884
AutoresJames Bluman, Chang-kwon Kang, Yuri Shtessel,
Tópico(s)Robotic Locomotion and Control
ResumoNo AccessEngineering NoteControl of a Flapping-Wing Micro Air Vehicle: Sliding-Mode ApproachJames E. Bluman, Chang-Kwon Kang and Yuri ShtesselJames E. BlumanUniversity of Alabama in Huntsville, Huntsville, Alabama 35899*Graduate Student, Department of Mechanical and Aerospace Engineering, 301 Sparkman Drive. Student Member AIAA.Search for more papers by this author, Chang-Kwon KangUniversity of Alabama in Huntsville, Huntsville, Alabama 35899†Assistant Professor, Department of Mechanical and Aerospace Engineering, 301 Sparkman Drive. Senior Member AIAA.Search for more papers by this author and Yuri ShtesselUniversity of Alabama in Huntsville, Huntsville, Alabama 35899‡Distinguished Professor, Department of Electrical and Computer Engineering, 301 Sparkman Drive. Associate Fellow AIAA.Search for more papers by this authorPublished Online:2 Apr 2018https://doi.org/10.2514/1.G003160SectionsRead Now ToolsAdd to favoritesDownload citationTrack citations ShareShare onFacebookTwitterLinked InRedditEmail About References [1] Faruque I. and Humbert J. S., “Dipteran Insect Flight Dynamics. Part 1: Longitudinal Motion About Hover,” Journal of Theoretical Biology, Vol. 264, No. 2, 2010, pp. 538–552. doi:https://doi.org/10.1016/j.jtbi.2010.02.018 JTBIAP 0022-5193 CrossrefGoogle Scholar[2] Faruque I. and Humbert J. S., “Dipteran Insect Flight Dynamics. Part 2: Lateral–Directional Motion About Hover,” Journal of Theoretical Biology, Vol. 265, No. 3, Aug. 2010, pp. 306–313. doi:https://doi.org/10.1016/j.jtbi.2010.05.003 JTBIAP 0022-5193 CrossrefGoogle Scholar[3] Taha H. E., Hajj M. R. and Nayfeh A. H., “Longitudinal Flight Dynamics of Hovering MAVs/Insects,” Journal of Guidance, Control, and Dynamics, Vol. 37, No. 3, 2014, pp. 970–979. doi:https://doi.org/10.2514/1.62323 JGCODS 0731-5090 LinkGoogle Scholar[4] Taha H. E., Tahmasian S., Woolsey C., Nayfeh A. H. and Hajj M. R., “The Need for Higher-Order Averaging in the Stability Analysis of Hovering, Flapping-Wing Flight,” Bioinspiration and Biomimetics, Vol. 10, No. 1, 2015, Paper 16002. doi:https://doi.org/10.1088/1748-3190/10/1/016002 1748-3182 CrossrefGoogle Scholar[5] Cheng B. and Deng X., “Translational and Rotational Damping of Flapping Flight and Its Dynamics and Stability at Hovering,” IEEE Transactions on Robotics, Vol. 27, No. 5, 2011, pp. 849–864. doi:https://doi.org/10.1109/TRO.2011.2156170 ITREAE 1552-3098 CrossrefGoogle Scholar[6] Shyy W., Kang C., Chirarattananon P., Ravi S. and Liu H., “Aerodynamics, Sensing, and Control of Insect-Scale Flapping-Wing Flight,” Proceedings of the Royal Society A, Vol. 472, No. 2186, 2016, Paper 20150712. CrossrefGoogle Scholar[7] Berman G. J. and Wang Z. J., “Energy-Minimizing Kinematics in Hovering Insect Flight,” Journal of Fluid Mechanics, Vol. 582, July 2007, pp. 153–168. doi:https://doi.org/10.1017/S0022112007006209 JFLSA7 0022-1120 CrossrefGoogle Scholar[8] Taha H. E., Hajj M. R. and Nayfeh A. H., “Flight Dynamics and Control of Flapping-Wing MAVs: A Review,” Nonlinear Dynamics, Vol. 70, No. 2, Oct. 2012, pp. 907–939. doi:https://doi.org/10.1007/s11071-012-0529-5 NODYES 0924-090X CrossrefGoogle Scholar[9] Oppenheimer M. W., Doman D. B. and Sigthorsson D. O., “Dynamics and Control of a Biomimetic Vehicle Using Biased Wingbeat Forcing Functions,” Journal of Guidance, Control, and Dynamics, Vol. 34, No. 1, 2011, pp. 204–217. doi:https://doi.org/10.2514/1.49735 JGCODS 0731-5090 LinkGoogle Scholar[10] Doman D. B., Oppenheimer M. W. and Sigthorsson D. O., “Wingbeat Shape Modulation for Flapping-Wing Micro-Air-Vehicle Control During Hover,” Journal of Guidance, Control, and Dynamics, Vol. 33, No. 3, 2010, pp. 724–739. doi:https://doi.org/10.2514/1.47146 JGCODS 0731-5090 LinkGoogle Scholar[11] Cheng B., Deng X. and Hedrick T. L., “The Mechanics and Control of Pitching Manoeuvres in a Freely Flying Hawkmoth (Manduca Sexta),” Journal of Experimental Biology, Vol. 214, No. 24, 2011, pp. 4092–4106. doi:https://doi.org/10.1242/jeb.062760 JEBIAM 0022-0949 CrossrefGoogle Scholar[12] Deng X., Schenato L. and Sastry S. S., “Flapping Flight for Biomimetic Robotic Insects: Part 2–Flight Control Design,” IEEE Transactions on Robotics, Vol. 22, No. 4, Aug. 2006, pp. 789–803. doi:https://doi.org/10.1109/TRO.2006.875483 ITREAE 1552-3098 CrossrefGoogle Scholar[13] Khan Z. A. and Agrawal S. K., “Force and Moment Characterization of Flapping Wings for Micro Air Vehicle Application,” Proceedings of the 2005, American Control Conference, Vol. 3, Portland, OR, 2005, pp. 1515–1520. doi:https://doi.org/10.1109/ACC.2005.1470180 Google Scholar[14] Chirarattananon P., Ma K. Y. and Wood R. J., “Adaptive Control of a Millimeter-Scale Flapping-Wing Robot,” Bioinspiration and Biomimetics, Vol. 9, No. 2, June 2014, Paper 25004. doi:https://doi.org/10.1088/1748-3182/9/2/025004 1748-3182 CrossrefGoogle Scholar[15] Besnard L., Shtessel Y. B. and Landrum B., “Quadrotor Vehicle Control via Sliding Mode Controller Driven by Sliding Mode Disturbance Observer,” Journal of the Franklin Institute, Vol. 349, No. 2, 2012, pp. 658–684. doi:https://doi.org/10.1016/j.jfranklin.2011.06.031 JFINAB 0016-0032 CrossrefGoogle Scholar[16] Utkin V. I., Sliding Modes in Control and Optimization, Springer–Verlag, Berlin, 1992, pp. 43–99. CrossrefGoogle Scholar[17] Shtessel Y. B., Edwards C., Fridman L. and Levant A., Sliding Mode Control and Observation, Springer, New York, 2014, pp. 44–205. CrossrefGoogle Scholar[18] Sun M. and Xiong Y., “Dynamic Flight Stability of a Hovering Bumblebee,” Journal of Experimental Biology, Vol. 208, No. 3, Feb. 2005, pp. 447–459. doi:https://doi.org/10.1242/jeb.01407 JEBIAM 0022-0949 CrossrefGoogle Scholar[19] Sane S. P. and Dickinson M. H., “The Aerodynamic Effects of Wing Rotation and a Revised Quasi-Steady Model of Flapping Flight,” Journal of Experimental Biology, Vol. 205, No. 8, 2002, pp. 1087–1096. CrossrefGoogle Scholar[20] Bluman J. and Kang C.-K., “Wing-Wake Interaction Destabilizes Hover Equilibrium of a Flapping Insect-Scale Wing,” Bioinspiration and Biomimetics, Vol. 12, No. 4, June 2017, Paper 046004. doi:https://doi.org/10.1088/1748-3190/aa7085 CrossrefGoogle Scholar[21] Higginson A. D. and Barnard C. J., “Accumulating Wing Damage Affects Foraging Decisions in Honeybees (Apis mellifera L.),” Ecological Entomology, Vol. 29, No. 1, 2004, pp. 52–59. doi:https://doi.org/10.1111/een.2004.29.issue-1 EENTDT 1365-2311 CrossrefGoogle Scholar[22] Foster D. J. and Cartar R. V., “What Causes Wing Wear in Foraging Bumble Bees?” Journal of Experimental Biology, Vol. 214, No. 11, 2011, pp. 1896–1901. doi:https://doi.org/10.1242/jeb.051730 CrossrefGoogle Scholar[23] Mountcastle A. M. and Combes S. A., “Biomechanical Strategies for Mitigating Collision Damage in Insect Wings: Structural Design Versus Embedded Elastic Materials,” Journal of Experimental Biology, Vol. 217, No. 7, 2014, pp. 1108–1115. doi:https://doi.org/10.1242/jeb.092916 CrossrefGoogle Scholar Previous article FiguresReferencesRelatedDetailsCited byControl of a Flapping Wing Aerial Vehicle in the Presence of Matched and Mismatched Disturbances29 October 2022 | Unmanned Systems, Vol. 11, No. 03LQR Controller for Stabilization of Bio-Inspired Flapping Wing UAV in Gust Environments29 July 2022 | Journal of Intelligent & Robotic Systems, Vol. 105, No. 4Optimal Processing Parameters of Transmission Parts of a Flapping-Wing Micro-Aerial Vehicle Using Precision Injection Molding4 April 2022 | Polymers, Vol. 14, No. 7Modeling and flapping vibration suppression of a novel tailless flapping wing micro air vehicleChinese Journal of Aeronautics, Vol. 35, No. 3Effects of abdomen undulation in energy consumption and stability for monarch butterfly11 May 2021 | Bioinspiration & Biomimetics, Vol. 16, No. 4Adaptive Sliding Mode Control with Transition Process for Flapping Wing Aerial VehicleAnalysis on Hover Control Performance of T- and Cross-Shaped Tail Fin of X-Wing Single-Bar Biplane Flapping WingJournal of Robotics, Vol. 2020Lyapunov-based control and trajectory tracking of a 6-DOF flapping wing micro aerial vehicle1 February 2020 | Nonlinear Dynamics, Vol. 99, No. 4Robust IFNTSM–ESO Control Design for Aircraft Subject to Parameter Uncertainties8 August 2019 | International Journal of Aeronautical and Space Sciences, Vol. 21, No. 1Closed-loop powered-coast-powered predictive guidance for spacecraft rendezvous with non-singular terminal sliding mode steeringActa Astronautica, Vol. 166 What's Popular Volume 41, Number 5May 2018 CrossmarkInformationThis material is declared a work of the U.S. Government and is not subject to copyright protection in the United States. All requests for copying and permission to reprint should be submitted to CCC at www.copyright.com; employ the ISSN 0731-5090 (print) or 1533-3884 (online) to initiate your request. See also AIAA Rights and Permissions www.aiaa.org/randp. TopicsAeronauticsAircraft Components and StructureAircraft DesignAircraft KinematicsAircraft OperationsAircraft Operations and TechnologyAircraft PerformanceAircraft Wing ComponentsAircraft Wing DesignAircraftsAviationCombat AircraftControl TheoryGuidance, Navigation, and Control SystemsMilitary AircraftMilitary AviationNonlinear Control TheoryUnmanned Aerial Vehicle KeywordsFlapping WingMicro Air VehicleSliding Mode ControlStability DerivativesPitch KinematicsAngle of AttackThrust VectoringNewton Raphson MethodWing TipMultibody DynamicsPDF Received29 June 2017Accepted30 January 2018Published online2 April 2018
Referência(s)