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Longitudinal mode model-based controller design for tailless flapping wing robot with loop shaping compensator.

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Summary

This study optimized proportional-derivative (PD) controller gains for the KUBeetle flapping wing robot

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Area of Science:

  • Robotics
  • Aerospace Engineering
  • Control Systems

Background:

  • Flapping wing robots present unique control challenges due to complex aerodynamics.
  • Accurate modeling of robot dynamics, including sensors and actuators, is crucial for effective control.
  • Existing control strategies may struggle with low-frequency performance and robustness in noisy environments.

Purpose of the Study:

  • To determine stable proportional-derivative (PD) controller gains for the KUBeetle flapping wing robot's pitch control.
  • To enhance the longitudinal flight dynamics model by incorporating sensor, filter, and servo dynamics.
  • To design a robust control system that ensures stability and achieves setpoint tracking.

Main Methods:

  • Linearized, non-coupled longitudinal-mode flight dynamics model of KUBeetle.
  • Routh-Hurwitz, root locus, and H-infinity norm stability analyses for gain determination.
  • Design of a loop-shaping compensator to improve low-frequency gain and maintain stability margins.
  • Implementation and experimental validation on an onboard control system with MEMS sensors.

Main Results:

  • Incorporated dynamics significantly affected closed-loop controller stability.
  • Selected PD controller gains offered good robustness but insufficient low-frequency performance.
  • Loop shaping compensator successfully improved low-frequency gain while preserving stability margins.
  • Frequency and time domain analyses confirmed the control loop's stabilizing capability.

Conclusions:

  • The proposed control loop, incorporating sensor and servo dynamics and a loop-shaping compensator, effectively stabilizes the KUBeetle flapping wing robot.
  • Experimental results validated the simulation, demonstrating robust stability even with significant flapping noise.
  • This approach provides a viable control strategy for tailless, hover-capable flapping wing robots.