TY - GEN
T1 - A geometric control approach for optimum maneuverability of flapping wing MAVs near hover
AU - Taha, Haithem E.
AU - Woolsey, Craig A.
AU - Hajj, Muhammad R.
PY - 2013
Y1 - 2013
N2 - Flapping wing micro-air vehicles are aerial robots that use biomimetic actuation for propulsion and control. Designing such a system requires an integrated system model describing the flight mechanics, propulsion, and control. Relative to conventional aircraft, the resulting model is nonlinear, high-dimensional, time-varying, and underactuated, making analysis and design challenging. Geometric control and averaging theory provide useful analysis tools for biomimetic locomotion systems that use high frequency, time-periodic inputs to generate control forces and moments. Recognizing the essential role of certain Lie bracket and symmetric product vector fields in the flight mechanics of a flapping wing micro-air vehicle, we develop analytical expressions for these vector fields in terms of system parameters. Using these expressions, we then pose and solve a design optimization problem aimed at maximizing vehicle maneuverability. The example illustrates a constructive technique for the design of biomimetic robots and their gaits.
AB - Flapping wing micro-air vehicles are aerial robots that use biomimetic actuation for propulsion and control. Designing such a system requires an integrated system model describing the flight mechanics, propulsion, and control. Relative to conventional aircraft, the resulting model is nonlinear, high-dimensional, time-varying, and underactuated, making analysis and design challenging. Geometric control and averaging theory provide useful analysis tools for biomimetic locomotion systems that use high frequency, time-periodic inputs to generate control forces and moments. Recognizing the essential role of certain Lie bracket and symmetric product vector fields in the flight mechanics of a flapping wing micro-air vehicle, we develop analytical expressions for these vector fields in terms of system parameters. Using these expressions, we then pose and solve a design optimization problem aimed at maximizing vehicle maneuverability. The example illustrates a constructive technique for the design of biomimetic robots and their gaits.
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U2 - 10.1109/acc.2013.6579902
DO - 10.1109/acc.2013.6579902
M3 - Conference contribution
AN - SCOPUS:84883501441
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 597
EP - 602
BT - 2013 American Control Conference, ACC 2013
T2 - 2013 1st American Control Conference, ACC 2013
Y2 - 17 June 2013 through 19 June 2013
ER -