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Updated: Jul 19, 2025
11:53
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
11.7K
Closed-loop nonlinear optimal control design for flapping-wing flying robot (1.6 m wingspan) in indoor confined
Saeed Rafee Nekoo1, Anibal Ollero2
1The GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Seville, 41092, Spain.
ISA Transactions
|August 13, 2023
Summary
This study introduces a novel closed-loop control for flapping-wing flying robots (FWFRs), achieving successful autonomous flight control in simulations and experiments. The nonlinear optimal control design enhances robot stability and maneuverability.
Area of Science:
- Robotics and Autonomous Systems
- Aerospace Engineering
- Control Theory
Background:
- Flapping-wing technology is advancing in unmanned aerial robotics for various applications.
- Current research lacks closed-loop control strategies for autonomous flapping-wing flying robots (FWFRs).
- Complex dynamics of FWFRs necessitate simplified yet accurate models for advanced control implementation.
Purpose of the Study:
- To design and implement a nonlinear optimal closed-loop control system for a flapping-wing flying robot (FWFR).
- To develop a simplified dynamic model for FWFRs suitable for nonlinear control.
- To investigate the effect of flapping motion on FWFR behavior using simulation and experimental validation.
Main Methods:
- A nonlinear optimal closed-loop control design using the state-dependent Riccati equation (SDRE) was developed.
- An alternative dynamic modeling approach provided equivalent dynamics for translation and a simplified model for orientation.
- The SDRE controller was applied to the derived model and validated through simulations and experiments on a 1.6 m wingspan robot bird.
Main Results:
- The proposed SDRE controller successfully controlled the underactuated six-degree-of-freedom flapping-wing robot in both position and orientation.
- Simulations demonstrated the effectiveness of the simplified dynamic model and the control strategy.
- Experimental results confirmed the successful autonomous flight control in an indoor testbed using a motion capture system.
Conclusions:
- The study successfully demonstrated a nonlinear optimal closed-loop control strategy for FWFRs.
- The developed simplified dynamic model and SDRE controller enable stable and precise autonomous flight.
- This research advances the field of flapping-wing robotics, paving the way for more sophisticated autonomous aerial systems.
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