This article outlines a new control approach for flapping-wing micro-aerial vehicles (MAVs), inspired both by biological systems and by the need for lightweight actuation and control solutions. In our approach, the aerodynamic forces required for agile motions are achieved indirectly, by modifying passive impedance properties that couple motion of the power stroke to the angle of attack (AoA) of the wing. This strategy is theoretically appealing because it can exploit an invariant, cyclical power stroke, for efficiency, and because an impedance-adjusting strategy should also require lower bandwidth, weight, and power than direct, intra-wingbeat control of AoA. We examine the theoretical range of control torques and forces that can be achieved using this method and conclude that it is a plausible method of control. Our results demonstrate the potential of a passive dynamic design and control approach in reducing mechanical complexity, weight and power consumption of an MAV while achieving the aerodynamic forces required for the types of high-fidelity maneuvers that drive current interest in autonomous, flapping-wing robotics.
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ASME 2010 Dynamic Systems and Control Conference
September 12–15, 2010
Cambridge, Massachusetts, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4417-5
PROCEEDINGS PAPER
A Passive Dynamic Approach for Flapping-Wing Micro-Aerial Vehicle Control
Katie Byl
Katie Byl
University of California at Santa Barbara, Santa Barbara, CA
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Katie Byl
University of California at Santa Barbara, Santa Barbara, CA
Paper No:
DSCC2010-4289, pp. 215-223; 9 pages
Published Online:
January 25, 2011
Citation
Byl, K. "A Passive Dynamic Approach for Flapping-Wing Micro-Aerial Vehicle Control." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 1. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 215-223. ASME. https://doi.org/10.1115/DSCC2010-4289
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