Modeling and control of flapping wing micro aerial vehicles

Area of Science:

• Robotics
• Aerospace Engineering
• Control Systems

Background:

• Micro aerial vehicles (MAVs) mimicking insect flight are advancing rapidly.
• Flapping wing MAVs offer diverse application potential.
• Existing models vary in complexity, with differing assumptions.

Purpose of the Study:

• To analyze the validity of assumptions in flapping wing MAV models within a closed-loop control context.
• To develop and test a robust control strategy for MAVs using simplified models.
• To demonstrate that a well-designed controller can overcome limitations of simpler models.

Main Methods:

• Developed three nonlinear MAV models of increasing complexity (rigid body only, with wing kinematics, and full rigid wing dynamics).
• Employed Linear Quadratic Regulator (LQR) for control system design.
• Utilized a nonlinear parameter optimization algorithm to design LQR controllers.
• Tested a controller designed for the simplest model on more complex models to assess robustness.

Main Results:

• A controller designed for the simplest MAV model demonstrated robustness across more complex models.
• Higher fidelity models can be rendered unnecessary with a suitably designed feedback controller.
• Performance trade-offs at plant output and input were analyzed.

Conclusions:

• A simplified modeling approach combined with robust LQR control is effective for flapping wing MAVs.
• This approach simplifies MAV control system design without sacrificing performance.
• Provided practical rules of thumb for MAV control system design.