Command-Filtered Integral Backstepping Control of Longitudinal Flapping-Wing Flight

The current work is concerned with longitudinal trajectory tracking control and simulation of a flapping-wing micro air vehicle. For the purpose of accurate simulation studies, a nonlinear and time-periodic dynamic model that accounts for the wings inertial effects is developed using Lagrange's...

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Bibliographic Details
Published in:Journal of guidance, control, and dynamics control, and dynamics, 2018-07, Vol.41 (7), p.1556-1568
Main Authors: Kalliny, Andrew N, El-Badawy, Ayman A, Elkhamisy, Sarah M
Format: Article
Language:English
Subjects:
Aerodynamic loads
Aerodynamics
Computer simulation
Control stability
Control systems design
Control theory
Controllers
Dynamic models
Dynamic stability
Euler-Lagrange equation
Flapping wings
Integrals
Low pass filters
Micro air vehicles (MAV)
Rotation
Simulation
Singular perturbation methods
Stability criteria
Tracking control
Trajectory control
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Summary:The current work is concerned with longitudinal trajectory tracking control and simulation of a flapping-wing micro air vehicle. For the purpose of accurate simulation studies, a nonlinear and time-periodic dynamic model that accounts for the wings inertial effects is developed using Lagrange's equations for quasi coordinates. Moreover, the aerodynamic loads are formulated, based on quasi-steady assumptions, taking into account the rotational circulation as well as the leading-edge vortex. Using the averaging method, the dynamic model is transformed to a time-invariant one that is the basis for controller design. Employing two control inputs, the flapping frequency and bias, an integral backstepping control law is synthesized. To ensure smooth oscillation-free control signals, a low-pass command filter is introduced in the control law. The choice of the control signals is based on Lyapunov stability criterion, while stability of the error dynamics is proved by the singular perturbation method. Simulation studies indicate that the proposed backstepping controller successfully achieves trajectory tracking. In addition, simulation results highlight the role of integral backstepping in achieving robust performance against model uncertainties and external disturbances and the importance of the command filter in maintaining smooth feasible control signals.
ISSN:0731-5090
1533-3884
DOI:10.2514/1.G003267