Adaptive control of a millimeter-scale flapping-wing robot

Challenges for the controlled flight of a robotic insect are due to the inherent instability of the system, complex fluid-structure interactions, and the general lack of a complete system model. In this paper, we propose theoretical models of the system based on the limited information available fro...

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Bibliographic Details
Published in:Bioinspiration & biomimetics 2014-06, Vol.9 (2), p.025004-025004
Main Authors: Chirarattananon, Pakpong, Ma, Kevin Y, Wood, Robert J
Format: Article
Language:English
Subjects:
adaptive control
Aircraft - instrumentation
Animals
Automation
biologically-inspired robots
Biomimetics - instrumentation
Computer Simulation
Computer-Aided Design
Controllers
Equipment Design
Equipment Failure Analysis
Feedback, Physiological - physiology
flapping wing
Flight, Animal - physiology
Fluid-structure interaction
Insecta - physiology
Insects
Manufacturing engineering
Miniaturization
Models, Biological
Modular
Oscillometry - instrumentation
Oscillometry - methods
Robotics - instrumentation
Robots
Stability
unmanned aerial vehicles
Wings, Animal - physiology
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Summary:Challenges for the controlled flight of a robotic insect are due to the inherent instability of the system, complex fluid-structure interactions, and the general lack of a complete system model. In this paper, we propose theoretical models of the system based on the limited information available from previous work and a comprehensive flight controller. The modular flight controller is derived from Lyapunov function candidates with proven stability over a large region of attraction. Moreover, it comprises adaptive components that are capable of coping with uncertainties in the system that arise from manufacturing imperfections. We have demonstrated that the proposed methods enable the robot to achieve sustained hovering flights with relatively small errors compared to a non-adaptive approach. Simple lateral maneuvers and vertical takeoff and landing flights are also shown to illustrate the fidelity of the flight controller. The analysis suggests that the adaptive scheme is crucial in order to achieve millimeter-scale precision in flight control as observed in natural insect flight.
ISSN:1748-3182
1748-3190
DOI:10.1088/1748-3182/9/2/025004