期刊
IEEE TRANSACTIONS ON CYBERNETICS
卷 49, 期 4, 页码 1524-1535出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2018.2808321
关键词
Distributed disturbance rejection; flapping wing micro aerial vehicle (MAV); iterative learning control (ILC); trajectory tracking control; vibration control
类别
资金
- National Key Research and Development Program of China [2017YFB1300102]
- National Natural Science Foundation of China [61522302, U1713209]
This paper addresses a flexible micro aerial vehicle (MAV) under spatiotemporally varying disturbances, which is composed of a rigid body and two flexible wings. Based on Hamilton's principle, a distributed parameter system coupling in bending and twisting, is modeled. Two iterative learning control (ILC) schemes are designed to suppress the vibrations in bending and twisting, reject the distributed disturbances and regulate the displacement of the rigid body to track a prescribed constant trajectory. At the basis of composite energy function, the boundedness and the learning convergence are proved for the closed-loop MAV system. Simulation results are provided to illustrate the effectiveness of the proposed ILC laws.
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