A geometric control approach for optimum maneuverability of flapping wing MAVs near hover

Haithem E. Taha, Craig A. Woolsey, Muhammad R. Hajj

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2013 American Control Conference, ACC 2013
Pages597-602
Number of pages6
DOIs
StatePublished - 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: 17 Jun 201319 Jun 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2013 1st American Control Conference, ACC 2013
Country/TerritoryUnited States
CityWashington, DC
Period17/06/1319/06/13

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