Modeling and Trajectory Tracking Control for Flapping-Wing Micro Aerial Vehicles

doi:10.1109/JAS.2020.1003417

CORC > 自动化研究所 > 中国科学院自动化研究所 > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Modeling and Trajectory Tracking Control for Flapping-Wing Micro Aerial Vehicles
	Wei He; Xinxing Mu; Liang Zhang; Yao Zou
刊名	IEEE/CAA Journal of Automatica Sinica
	2021
卷号	8 期号:1 页码:148-156
关键词	Flapping-wing micro aerial vehicles (FWMAVs) modeling neural networks trajectory tracking
ISSN号	2329-9266
DOI	10.1109/JAS.2020.1003417
英文摘要	This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles (FWMAVs) in the longitudinal plane. First of all, the kinematics and dynamics of the FWMAV are established, wherein the aerodynamic force and torque generated by flapping wings and the tail wing are explicitly formulated with respect to the flapping frequency of the wings and the degree of tail wing inclination. To achieve autonomous tracking, an adaptive control scheme is proposed under the hierarchical framework. Specifically, a bounded position controller with hyperbolic tangent functions is designed to produce the desired aerodynamic force, and a pitch command is extracted from the designed position controller. Next, an adaptive attitude controller is designed to track the extracted pitch command, where a radial basis function neural network is introduced to approximate the unknown aerodynamic perturbation torque. Finally, the flapping frequency of the wings and the degree of tail wing inclination are calculated from the designed position and attitude controllers, respectively. In terms of Lyapunov’s direct method, it is shown that the tracking errors are bounded and ultimately converge to a small neighborhood around the origin. Simulations are carried out to verify the effectiveness of the proposed control scheme.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/43903]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Wei He,Xinxing Mu,Liang Zhang,et al. Modeling and Trajectory Tracking Control for Flapping-Wing Micro Aerial Vehicles[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(1):148-156.
APA	Wei He,Xinxing Mu,Liang Zhang,&Yao Zou.(2021).Modeling and Trajectory Tracking Control for Flapping-Wing Micro Aerial Vehicles.IEEE/CAA Journal of Automatica Sinica,8(1),148-156.
MLA	Wei He,et al."Modeling and Trajectory Tracking Control for Flapping-Wing Micro Aerial Vehicles".IEEE/CAA Journal of Automatica Sinica 8.1(2021):148-156.