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Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering
Jiang T(江涛)1,2,3; Yang, Xiaosong4; Wang HW(王洪伟)1,2; Gai, Wen4; Cui L(崔龙)1,2
Department机器人学研究室
Source PublicationJournal of Robotics
ISSN1687-9600
2019
Volume2019Pages:1-12
Indexed ByEI
EI Accession number20193707424521
Contribution Rank1
Funding OrganizationNational Defense Basic Scientifc Research Program of China, grant number B1320133018
AbstractCompared with the tailless flapping wing micro air vehicle (FMAV), the tailed FMAV has a simpler structure and is easier to control. However, although biplane FMAVs with tails have been used for flight control in practice for a long time, a theoretical model of the tailed FMAV has not previously been established. In this paper, we report modeling of the longitudinal dynamics of a tailed biplane FMAV using the Newton-Euler equations. In this study, the vehicle was trimmed and linearized near its hovering equilibrium, assuming small disturbances. Then the stability of the hovering FMAV was analyzed with a modal analysis method. A state feedback controller was synthesized to stabilize the disturbance. Finally, we investigated the flight control of the tailed biplane FMAV with different control signals. Our results show that the natural-motion mode determines the oscillation divergence characteristics of the tailed FMAV, a mode that can be suppressed with the state feedback controller by real-Time modulation of the tail. The tail can also be used to achieve different flight modes with different control-signal functions. The tailed FMAV cruises in a line when the tail is controlled with a step function and spirals in an elliptical trajectory in the longitudinal plane when the tail is controlled by a sinusoidal function. Our longitudinal-dynamics model provides an analytical basis for further dynamic analyses of the tailed FMAV, as well as the corresponding controller synthesis. Moreover, the proposed attitude stabilization and flight control schemes for the vehicle near hovering provide a basis for developing practical uses of the tailed FMAV.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25625
Collection机器人学研究室
Corresponding AuthorJiang T(江涛); Cui L(崔龙)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Facility Design and Instrumentation Institute, China Aerodynamics Research and Development Center, Mianyang 621000, China
Recommended Citation
GB/T 7714
Jiang T,Yang, Xiaosong,Wang HW,et al. Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering[J]. Journal of Robotics,2019,2019:1-12.
APA Jiang T,Yang, Xiaosong,Wang HW,Gai, Wen,&Cui L.(2019).Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering.Journal of Robotics,2019,1-12.
MLA Jiang T,et al."Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering".Journal of Robotics 2019(2019):1-12.
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