Dynamic Modeling and High Maneuverability Control of Flapping-wing Micro Aerial Vehicle

被引：0

作者：

Liu, Zhijie ^{[1
]}

Wang, Wenlong ^{[1
]}

Zhang, Jianhui ^{[1
]}

Huang, Haifeng ^{[1
]}

He, Wei ^{[1
]}

Liang, Lunfei ^{[2
]}

机构：

[1] University of Science and Technology Beijing, Beijing

[2] Jianghuai Advance Technology Center, Hefei

来源：

Jiqiren/Robot | 2025年 / 47卷 / 03期

关键词：

aerodynamics; flapping-wing micro aerial vehicle; quaternion theory;

D O I：

10.13973/j.cnki.robot.250006

中图分类号：

学科分类号：

摘要：

A coupling trajectory tracking controller based on a quasi-steady model is proposed for the trajectory tracking problem of tailless flapping-wing vehicle. Firstly, the aerodynamic characteristics of the vehicle are modeled and analyzed using the quasi-static model and the blade element method, resulting in the construction of a quasi-steady aerodynamic model. Secondly, the attitude of the vehicle is described using quaternions, and a coupled dynamic model of the flapping-wing aerial vehicle is established to comprehensively reflect its motion characteristics. In the controller design phase, an intermediate control variable is introduced, and a model-based dual-loop coupled control scheme for position and attitude is designed based on the undecoupled dynamic model of the vehicle, to achieve high-precision trajectory tracking control. The global stability of the control system is proven through an analysis based on Lyapunov theory. Finally, simulations and actual flight experiments are conducted. The prototype is set to track a spiral ascent trajectory and a V-shaped trajectory. In the simulations, the prototype demonstrates rapid response capability during the tracking process and maintains stable posture. In the actual flight experiments, the prototype completes the tracking of the spiral ascent trajectory and executes the V-shaped trajectory tracking task within 6 s, proving the effectiveness of the designed controller. © 2025 Chinese Academy of Sciences. All rights reserved.

引用

页码：372 / 382

页数：10

共 24 条

[1]

HE W, DING S Q, SUN C Y., Research progress on modeling and control of flapping-wing air vehicles, Acta Automatica Sinica, 43, 5, pp. 685-696, (2017)

[2]

HINES L, COLMENARES D, SITTI M., Platform design and tethered flight of a motor-driven flapping-wing system, IEEE International Conference on Robotics and Automation, pp. 5838-5845, (2015)

[3]

KARASEK M, MUIJRES F T, DE WAGTER C, Et al., A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns, Science, 361, 6407, pp. 1089-1094, (2018)

[4]

TU Z, FEI F, ZHANG J, Et al., An at-scale tailless flapping-wing hummingbird robot. I. Design, optimization, and experimental validation, IEEE Transactions on Robotics, 36, 5, pp. 1511-1525, (2020)

[5]

NAGAI H, NAKAMURA K, FUJITA K, Et al., Development of tailless two-winged flapping drone with gravity center position control, Sensors and Materials, 33, 3, pp. 859-872, (2021)

[6]

DENG X, SCHENATO L, WU W C, Et al., Flapping flight for biomimetic robotic insects: Part I – System modeling, IEEE Transactions on Robotics, 22, 4, pp. 776-788, (2006)

[7]

WALKER J A, WESTNEAT M W., Mechanical performance of aquatic rowing and flying, Proceedings of the Royal Society of London. Series B: Biological Sciences, 267, 1455, pp. 1875-1881, (2000)

[8]

QIAN C, FANG Y C, JIA F, Et al., Toward practical autonomous flight simulation for flapping wing biomimetic robots with experimental validation, IEEE Transactions on Automation Science and Engineering, 22, pp. 5084-5095, (2025)

[9]

NGUYEN Q V, CHAN W L, DEBIASI M., Hybrid design and performance tests of a hovering insect-inspired flapping-wing micro aerial vehicle, Journal of Bionic Engineering, 13, 2, pp. 235-248, (2016)

[10]

JIAO Z, WANG L, ZHAO L, Et al., Hover flight control of X-shaped flapping wing aircraft considering wing–tail interactions, Aerospace Science and Technology, 116, (2021)

← 1 2 3 →