期刊
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
卷 77, 期 1, 页码 95-111出版社
SPRINGER
DOI: 10.1007/s10846-014-0096-8
关键词
Microrobotics; Flapping-wing flight; Real-time control; Experimental robotics
资金
- National Science Foundation [CCF-0926148]
- Wyss Institute for Biologically Inspired Engineering
We present a model-free experimental method to find a control strategy for achieving stable flight of a dual-actuator biologically inspired flapping-wing flying microrobot during hovering. The main idea proposed in this work is the sequential tuning of parameters for an increasingly more complex strategy in order to sequentially accomplish more complex tasks: upright stable flight, straight vertical flight, and stable hovering with altitude and position control. Each term of the resulting multiple-input-multiple-output (MIMO) controller has a physical intuitive meaning and the control structure is relatively simple such that it could potentially be applied to other kinds of flapping-wing robots.
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