A Neural Adaptive Controller in Flapping Flight

2012 ◽  
Vol 24 (4) ◽  
pp. 602-611 ◽  
Author(s):  
Bo Cheng ◽  
◽  
Xinyan Deng
Keyword(s):  
Trajectory Tracking ◽  
Attitude Control ◽  
Insect Flight ◽  
Angular Position ◽  
Adaptive Controller ◽  
Flapping Wing ◽  
Model Parameters ◽  
Neural Network Models ◽  
Periodic Force ◽  
Wing Kinematics

In this paper, we propose a neural adaptive controller for attitude control in a flapping-wing insect model. The model is nonlinear and subjected to periodic force/torque generated by nominal wing kinematics. Two sets of model parameters are obtained from the fruit flyDrosophila melanogasterand the honey beeApis mellifera. Attitude control is achieved by modifying the wing kinematics on a stroke-by-stroke basis. The controller is based on filtered-error with neural network models approximating system nonlinearities. Lyapunov-based stability analysis shows the asymptotic convergence of system outputs. We present simulation results for angular position stabilization and trajectory tracking. Trajectory tracking is illustrated by two cases: saccadic turning and sinusoidal variation in the yaw angle. The proposed controller successfully regulates flight orientation – roll, pitch and yaw angles – by generating desired torque resulting from tuning parameterized wing motion. Results furthermore show similarities between simulated and observed turning from real insects, suggesting some inherent properties in insect flight dynamics and control. The proposed controller has potential applications in future flapping-wing Micro Air Vehicles (MAVs).

Modeling and Adaptive Tracking Control of a Quadrotor UAV

2012 ◽  
Vol 2 (4) ◽  
pp. 58-81 ◽  
Author(s):  
Mostafa Mohammadi ◽  
Alireza Mohammad Shahri ◽  
Zahra Boroujeni
Keyword(s):  
Trajectory Tracking ◽  
Attitude Control ◽  
Movement Control ◽  
Adaptive Controller ◽  
Inverse Kinematic ◽  
Physical Parameters ◽  
Outer Loop ◽  
Control Loops ◽  
Adaptive Tracking Control ◽  
Translational Movement

The dynamics of UAV’s have special features that can complicate the process of designing a trajectory tracking controller. In this paper, after modelling the quadrotor as a VTOL UAV, a nonlinear adaptive controller is designed to solve trajectory tracking problem in the presence of parametric and nonparametric uncertainties. This controller doesn’t need knowing any physical parameters of the quadrotor, and there isn’t need to retune the controller for various payloads. In this approach, the control of a quadrotor is performed by using decentralized adaptive controllers in the inner (attitude control) and outer (translational movement control) loops. The outer loop generates the instantaneous desired angles for inner loop. The inner loop stabilizes the orientation of the vehicle. Inverse kinematic of robot is used to convert outputs of the outer loop to inputs of the inner loop. The controller needs some unknown physical parameter to generate control signals. A robust parameter identifier estimates the required parameters for the outer control loops. Simulations are carried out to illustrate the robustness and tracking performance of the controllers.

scholarly journals FLAPPING WING DEVICES FOR MARS EXPLORATION

2011 ◽  
Author(s):  
Asier Ania ◽  
Dominique Poirel ◽  
Marie-Josée Potvin ◽  
Steeve Montminy
Keyword(s):  
Reynolds Number ◽  
Insect Flight ◽  
Low Reynolds Number ◽  
Flapping Wing ◽  
Low Density ◽  
Mars Exploration ◽  
Unsteady Aerodynamic ◽  
Aerial Vehicle ◽  
Low Reynolds

The use of an aerial vehicle would greatly enhance the domain of exploration on Mars. The main constraint in such a design would be the extreme Martian environment. The low-density atmosphere suggests the use of a low Reynolds number flight regime modeled after flapping wing insect flight. This flapping wing flight employs several unsteady aerodynamic mechanisms; delayed stall, wake capture, and rotational mechanisms. Two prototypes, a flapping wing and a rotary-flapping wing hybrid, have been built and will be tested in order to quantify the 'overall lift' generated and allow us to evaluate the efficacy of flapping wing flight on Mars.

scholarly journals Optimization of Flexible Flapping-Wing Kinematics in Hover

AIAA Journal ◽  
2014 ◽  
Vol 52 (10) ◽  
pp. 2342-2354 ◽  
Author(s):  
A. Gogulapati ◽  
P. P. Friedmann ◽  
J. R. R. A. Martins
Keyword(s):  
Flapping Wing ◽  
Wing Kinematics

scholarly journals Adaptive PD Sliding Mode Control For 4 DOF SCARA Variant

2021 ◽  
Author(s):  
Manjeet Tummalapalli
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
High Speed ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Degree Of Freedom ◽  
Tracking Performance ◽  
Advantages And Disadvantages ◽  
Model Free ◽  
Adaptive Law

This project proposes a new SCARA variant with 4 degree of freedom. The proposed variant is achieved by swapping joint 2 and joint 3 of the standard SCARA robots. An adaptive controller is defined based on the advantages and disadvantages of PD, and SMC controllers.The purpose of the project is to understand the dynamics of the variant and to track the performance for trajectories. Simulations for tracking performance are carried under linear and circular trajectories. The variant is studied over the three controllers; PD, PD-SMC and A-PD-SMC. The variant under the adaptive controller is most efficient in terms of tracking performance and the control inputs to the system. The system is simulated under high speed and with the influence of friction at the joints. The control gains are held constant for both the trajectories and hence the controller is able to perform good under changing trajectories. Due to the use of the adaptive law, the system is at the ease of implementation and since no priori knowledge if the system is needed, it is model free. Therefore, the proposed adaptive PD-SMC has proven to provide good, robust trajectory tracking.

scholarly journals Analysis of Impact of Ship Model Parameters on Changes of Control Quality Index in Ship Dynamic Positioning System

2019 ◽  
Vol 26 (1) ◽  
pp. 6-14 ◽  
Author(s):  
Tacjana Niksa Rynkiewicz ◽  
Anna Witkowska
Keyword(s):  
Quality Index ◽  
Adaptive Controller ◽  
Model Parameters ◽  
Dynamic Positioning ◽  
Positioning System ◽  
Integral Control ◽  
Dynamic Positioning System ◽  
Ship Model ◽  
Control Quality ◽  
The Impact

Abstract In this work there is presented an analysis of impact of ship model parameters on changes of control quality index in a ship dynamic positioning system designed with the use of a backstepping adaptive controller. Assessment of the impact of ship model parameters was performed on the basis of Pareto-Lorentz curves and ABC method in order to determine sets of the parameters which have either crucial, moderate or low impact on objective function. Simulation investigations were carried out with taking into account integral control quality indices.

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