Dynamic Stability and Flight Control of Biomimetic Flapping-Wing Micro Air Vehicle
This paper proposes an approach to analyze the dynamic stability and develop trajectory-tracking controllers for flapping-wing micro air vehicle (FWMAV). A multibody dynamics simulation framework coupled with a modified quasi-steady aerodynamic model was implemented for stability analysis, which was...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Aerospace |
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| Online Access: | https://www.mdpi.com/2226-4310/8/12/362 |
| _version_ | 1797507085118734336 |
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| author | Muhammad Yousaf Bhatti Sang-Gil Lee Jae-Hung Han |
| author_facet | Muhammad Yousaf Bhatti Sang-Gil Lee Jae-Hung Han |
| author_sort | Muhammad Yousaf Bhatti |
| collection | DOAJ |
| description | This paper proposes an approach to analyze the dynamic stability and develop trajectory-tracking controllers for flapping-wing micro air vehicle (FWMAV). A multibody dynamics simulation framework coupled with a modified quasi-steady aerodynamic model was implemented for stability analysis, which was appended with flight control block for accomplishing various flight objectives. A gradient-based trim search algorithm was employed to obtain the trim conditions by solving the fully coupled nonlinear equations of motion at various flight speeds. Eigenmode analysis showed instability that grew with the flight speed in longitudinal dynamics. Using the trim conditions, we linearized dynamic equations of FWMAV to obtain the optimal gain matrices for various flight speeds using the linear-quadratic regulator (LQR) technique. The gain matrices from each of the linearized equations were used for gain scheduling with respect to forward flight speed. The reference tracking augmented LQR control was implemented to achieve transition flight tracking that involves hovering, acceleration, and deceleration phases. The control parameters were updated once in a wingbeat cycle and were changed smoothly to avoid any discontinuities during simulations. Moreover, trajectories tracking control was achieved successfully using a dual loop control approach. Control simulations showed that the proposed controllers worked effectively for this fairly nonlinear multibody system. |
| first_indexed | 2024-03-10T04:41:40Z |
| format | Article |
| id | doaj.art-88f07dd228384879a03dce81f1d1b13e |
| institution | Directory Open Access Journal |
| issn | 2226-4310 |
| language | English |
| last_indexed | 2024-03-10T04:41:40Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj.art-88f07dd228384879a03dce81f1d1b13e2023-11-23T03:17:51ZengMDPI AGAerospace2226-43102021-11-0181236210.3390/aerospace8120362Dynamic Stability and Flight Control of Biomimetic Flapping-Wing Micro Air VehicleMuhammad Yousaf Bhatti0Sang-Gil Lee1Jae-Hung Han2Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, KoreaDepartment of Aerospace Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, KoreaDepartment of Aerospace Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, KoreaThis paper proposes an approach to analyze the dynamic stability and develop trajectory-tracking controllers for flapping-wing micro air vehicle (FWMAV). A multibody dynamics simulation framework coupled with a modified quasi-steady aerodynamic model was implemented for stability analysis, which was appended with flight control block for accomplishing various flight objectives. A gradient-based trim search algorithm was employed to obtain the trim conditions by solving the fully coupled nonlinear equations of motion at various flight speeds. Eigenmode analysis showed instability that grew with the flight speed in longitudinal dynamics. Using the trim conditions, we linearized dynamic equations of FWMAV to obtain the optimal gain matrices for various flight speeds using the linear-quadratic regulator (LQR) technique. The gain matrices from each of the linearized equations were used for gain scheduling with respect to forward flight speed. The reference tracking augmented LQR control was implemented to achieve transition flight tracking that involves hovering, acceleration, and deceleration phases. The control parameters were updated once in a wingbeat cycle and were changed smoothly to avoid any discontinuities during simulations. Moreover, trajectories tracking control was achieved successfully using a dual loop control approach. Control simulations showed that the proposed controllers worked effectively for this fairly nonlinear multibody system.https://www.mdpi.com/2226-4310/8/12/362biomimetic flapping-wing micro air vehicleflight dynamics and stabilityhovering and forward flightLQR optimal controllerdual loop position controller |
| spellingShingle | Muhammad Yousaf Bhatti Sang-Gil Lee Jae-Hung Han Dynamic Stability and Flight Control of Biomimetic Flapping-Wing Micro Air Vehicle Aerospace biomimetic flapping-wing micro air vehicle flight dynamics and stability hovering and forward flight LQR optimal controller dual loop position controller |
| title | Dynamic Stability and Flight Control of Biomimetic Flapping-Wing Micro Air Vehicle |
| title_full | Dynamic Stability and Flight Control of Biomimetic Flapping-Wing Micro Air Vehicle |
| title_fullStr | Dynamic Stability and Flight Control of Biomimetic Flapping-Wing Micro Air Vehicle |
| title_full_unstemmed | Dynamic Stability and Flight Control of Biomimetic Flapping-Wing Micro Air Vehicle |
| title_short | Dynamic Stability and Flight Control of Biomimetic Flapping-Wing Micro Air Vehicle |
| title_sort | dynamic stability and flight control of biomimetic flapping wing micro air vehicle |
| topic | biomimetic flapping-wing micro air vehicle flight dynamics and stability hovering and forward flight LQR optimal controller dual loop position controller |
| url | https://www.mdpi.com/2226-4310/8/12/362 |
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