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Attitude Control of Ornithopter Wing by Using a MIMO Active Disturbance Rejection Strategy.

Josiel Alves Gouvêa1, Luciano Santos Constantin Raptopoulos1, Milena Faria Pinto2

  • 1Department of Control Systems and Automation Engineering, Federal Center of Technological Education of Rio de Janeiro, Nova Iguaçu 26.041-271, Brazil.

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Summary

This study presents a novel Active Disturbance Rejection Control (ADRC) extension for ornithopter wings, effectively managing complex, coupled dynamics for stable flight control.

Keywords:
MIMO uncertain systemsattitude controldisturbance rejectionmodified-plant ADRCornithopter wing control

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Area of Science:

  • Robotics and Control Systems
  • Aerospace Engineering
  • Applied Mathematics

Background:

  • Ornithopter flight control is complex due to nonlinear, Multiple-Input Multiple-Output (MIMO) dynamics with coupled inputs.
  • Existing Active Disturbance Rejection Control (ADRC) methods often require precise control gain knowledge and struggle with MIMO systems, especially those with coupled inputs.

Purpose of the Study:

  • To develop a mathematical solution for the attitude control of ornithopter wings.
  • To extend the Active Disturbance Rejection Control (ADRC) strategy for Multiple-Input Multiple-Output (MIMO) systems with coupled input variables.
  • To address the limitations of existing ADRC methods regarding parameter uncertainty and system complexity.

Main Methods:

  • A mathematical model for the ornithopter wing system dynamics was developed.
  • An extended Active Disturbance Rejection Control (ADRC) strategy was proposed, specifically adapted for MIMO systems with coupled inputs.
  • The control methodology utilizes an extended state observer and a state-feedback control law.

Main Results:

  • The proposed ADRC extension demonstrates robustness to parametric uncertainties.
  • The control strategy effectively compensates for external disturbances and unmodeled dynamics.
  • The method successfully handles nonlinear plants and coupled input variables in the ornithopter wing system.
  • Mathematical analysis using Laplace's approach is feasible for the nonlinear plant.

Conclusions:

  • The developed ADRC extension provides a robust and effective solution for the attitude control of ornithopter wings.
  • This approach overcomes limitations of traditional ADRC in handling complex MIMO systems with coupled dynamics.
  • The proposed method offers significant advantages for the control of bio-inspired aerial vehicles.