Wing Trajectory Control for Flapping-Wing Microrobots Using Combined Repetitive and Minimum-Variance Adaptive Methods

被引：0
|
作者：
Chirarattananon, Pakpong [1 ]
Perez-Arancibia, Nestor O. [1 ]
Wood, Robert J. [1 ]
机构：
[1] Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
来源：
2012 AMERICAN CONTROL CONFERENCE (ACC) | 2012年
关键词：
FLIGHT; LIFT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We discuss the design and implementation of a combined repetitive and minimum-variance adaptive control strategy for generating a-priori-specified desired periodic flapping trajectories of a flying microrobot's wings. With this method and using a static force sensing experimental setup, relevant information about the forces produced by the wings' flapping can be gathered. In turn, this information can be used for designing real-time controllers capable of enforcing desired trajectories on microrobotic insects in vertical flight and hovering.
引用
收藏
页码：3831 / 3838
页数：8
相关论文
共 20 条
  • [1] Lift Force Control of Flapping-Wing Microrobots Using Adaptive Feedforward Schemes
    Perez-Arancibia, Nestor O.
    Whitney, John P.
    Wood, Robert J.
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2013, 18 (01) : 155 - 168
  • [2] Nonlinear trajectory control of a flapping-wing micro aerial vehicle
    Khanmirza, Esmaeel
    Yousefi-Koma, Aghil
    Tarvirdizadeh, Bahram
    AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY, 2012, 84 (01): : 58 - 65
  • [3] Adaptive control of a millimeter-scale flapping-wing robot
    Chirarattananon, Pakpong
    Ma, Kevin Y.
    Wood, Robert J.
    BIOINSPIRATION & BIOMIMETICS, 2014, 9 (02)
  • [4] Modeling and Trajectory Tracking Control for Flapping-Wing Micro Aerial Vehicles
    Wei He
    Xinxing Mu
    Liang Zhang
    Yao Zou
    IEEE/CAA Journal of Automatica Sinica, 2021, 8 (01) : 148 - 156
  • [5] Single-Loop Control and Trajectory Following of a Flapping-Wing Microrobot
    Chirarattananon, Pakpong
    Ma, Kevin Y.
    Wood, Robert J.
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014, : 37 - 44
  • [6] Modeling and trajectory tracking control for flapping-wing micro aerial vehicles
    He, Wei
    Mu, Xinxing
    Zhang, Liang
    Zou, Yao
    IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2021, 8 (01) : 148 - 156
  • [7] Adaptive Robust Wing Trajectory Control and Force Generation of Flapping Wing MAV
    Zhang, Jian
    Cheng, Bo
    Yao, Bin
    Deng, Xinyan
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 5852 - 5857
  • [8] Biologically Inspired Optical-Flow Sensing for Altitude Control of Flapping-Wing Microrobots
    Duhamel, Pierre-Emile J.
    Perez-Arancibia, Nestor O.
    Barrows, Geoffrey L.
    Wood, Robert J.
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2013, 18 (02) : 556 - 568
  • [9] Adaptive pole placement pitch angle control of a flapping-wing flying robot
    Chand, A. N.
    Kawanishi, M.
    Narikiyo, T.
    ADVANCED ROBOTICS, 2016, 30 (16) : 1039 - 1049
  • [10] Flapping trajectory characteristics and attitude control approach of a flapping-wing robot with 2-DOF parallel mechanism
    Wang, Liang
    Song, Bifeng
    Sun, Zhongchao
    Yang, Xiaojun
    AEROSPACE SCIENCE AND TECHNOLOGY, 2024, 147
12