Active Disturbance Rejection Attitude Control for Flapping Wing Micro Aerial Vehicle With Nonaffine-in-Control Characteristics

This paper proposes an attitude control scheme for the Dove flapping wing micro air vehicle in intermittent flapping and gliding flight. The Dove flapping wing micro air vehicle adopts intermittent flapping and gliding flight to make the wing movements more natural; this strategy also has the potential to reduce energy consumption. To implement this specific flight mode, this paper proposes a closed-loop active disturbance rejection control strategy to stabilize the attitude during the processes of flapping flight, transition and gliding flight. The active disturbance rejection control controller is composed of three parts: a tracking differentiator, a linear extended state observer and a nonlinear state error feedback controller. The tracking differentiator estimates the given target signal and the differential signal in real time. The extended state observer estimates the system states and system nonlinearity. Moreover, the bandwidth parameterization method is applied to determine the observer gains. The stability of the closed-loop system is verified using Lyapunov’s theorem. Several outdoor flight experiments have been conducted to verify the effectiveness of the proposed control method, and the results show that the proposed method can guarantee the stability of intermittent flapping and gliding flight.

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Dynamic model and attitude control of Flapping Wing Micro Aerial Vehicle

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO) ◽

10.1109/robio.2009.5420689 ◽

2009 ◽

Cited By ~ 4

Author(s):

Hongjun Duan ◽

Qingwei Li

Keyword(s):

Dynamic Model ◽

Attitude Control ◽

Flapping Wing ◽

Micro Aerial Vehicle ◽

Aerial Vehicle

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Fuzzy Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle Based on Variable Rate Reaching Law

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.178-181.2801 ◽

2012 ◽

Vol 178-181 ◽

pp. 2801-2804

Author(s):

Sheng Bin Hu ◽

Wen Hua Lu ◽

Zhi Yi Chen ◽

Lei Lei ◽

Yi Xuan Zhang

Keyword(s):

Attitude Control ◽

Sliding Mode ◽

Flapping Wing ◽

Variable Rate ◽

Micro Aerial Vehicle ◽

Fuzzy Sliding Mode Control ◽

Reaching Law ◽

Control Scheme ◽

Aerial Vehicle ◽

Fuzzy Sliding Mode

A fuzzy sliding mode control scheme based on variable rate reaching law for attitude control of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a sliding mode controller is designed. To faster response speed, a fuzzy controller is designed to adaptively tune the slope of sliding mode surface. To reduce the chattering, the variable rate reaching law is proposed. The variable rate reaching law is composed of the distance from current point to sliding mode surface in phase plane. The simulation studies for attitude control of a flapping wing micro aerial vehicle have been carried out. Simulation results show that the proposed control scheme is effective.

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Flapping Wing Micro Aerial Vehicle Attitude Control with Fuzzy Sliding Mode Controller Based on RBF Neural Network

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.443-444.177 ◽

2012 ◽

Vol 443-444 ◽

pp. 177-182

Author(s):

Sheng Bin Hu ◽

Wen Hua Lu ◽

Min Xun Lu

Keyword(s):

Neural Network ◽

Sliding Mode Control ◽

Attitude Control ◽

Sliding Mode ◽

Flapping Wing ◽

Micro Aerial Vehicle ◽

Mode Control ◽

Attitude Tracking ◽

Aerial Vehicle ◽

Fuzzy Sliding Mode

A adaptive fuzzy Sliding Mode Control (SMC) scheme based on Radial Basis Function Neural Network (RBFNN) for attitude tracking control of Flapping Wing Micro Aerial Vehicle (FWMAV) is proposed in this paper. A RBFNN is used to compute the equivalent control of sliding mode control, An adaptive algorithm is used for weight adaptation of the RBFNN and A Lyapunov function is selected for the design of the SMC. The simulation results of FWMAV demonstrate that the control scheme is effective.

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