Related Experiment Video
Updated: Aug 16, 2026

Insect-machine Hybrid System: Remote Radio Control of a Freely Flying Beetle (Mercynorrhina torquata)
Published on: September 2, 2016
The control of a parallel hybrid-electric propulsion system for a small unmanned aerial vehicle using a CMAC neural
Frederick G Harmon1, Andrew A Frank, Sanjay S Joshi
1Department of Mechanical and Aeronautical Engineering, University of California-Davis, Davis, CA 95616, USA. fgharmon@ucdavis.edu
Abstract:
A Simulink model, a propulsion energy optimization algorithm, and a CMAC controller were developed for a small parallel hybrid-electric unmanned aerial vehicle (UAV). The hybrid-electric UAV is intended for military, homeland security, and disaster-monitoring missions involving intelligence, surveillance, and reconnaissance (ISR). The Simulink model is a forward-facing simulation program used to test different control strategies. The flexible energy optimization algorithm for the propulsion system allows relative importance to be assigned between the use of gasoline, electricity, and recharging. A cerebellar model arithmetic computer (CMAC) neural network approximates the energy optimization results and is used to control the parallel hybrid-electric propulsion system. The hybrid-electric UAV with the CMAC controller uses 67.3% less energy than a two-stroke gasoline-powered UAV during a 1-h ISR mission and 37.8% less energy during a longer 3-h ISR mission.
Related Concept Videos
Control Systems: Applications
In modern vehicles, control systems manage various functions to enhance performance and safety. The steering wheel and accelerator are primary inputs in a car's control system. The direction...
Multi-input and Multi-variable systems
In the absence of...
Feedback control systems
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Control System Problem
When forming a closed-loop system, issues can arise if the poles cross into the unstable region, leading to potential...
One-Degree-of-Freedom System
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...

