The current work is concerned with longitudinal trajectory tracking control and simulation of a flapping-wing micro air vehicle. For the purpose of accurate simulation studies, a nonlinear and time-periodic dynamic model that accounts for the wings inertial effects is developed using Lagrange’s equations for quasi coordinates. Moreover, the aerodynamic loads are formulated, based on quasi-steady assumptions, taking into account the rotational circulation as well as the leading-edge vortex. Using the averaging method, the dynamic model is transformed to a time-invariant one that is the basis for controller design. Employing two control inputs, the flapping frequency and bias, an integral backstepping control law is synthesized. To ensure smooth oscillation-free control signals, a low-pass command filter is introduced in the control law. The choice of the control signals is based on Lyapunov stability criterion, while stability of the error dynamics is proved by the singular perturbation method. Simulation studies indicate that the proposed backstepping controller successfully achieves trajectory tracking. In addition, simulation results highlight the role of integral backstepping in achieving robust performance against model uncertainties and external disturbances and the importance of the command filter in maintaining smooth feasible control signals.
Command-Filtered Integral Backstepping Control of Longitudinal Flapping-Wing Flight
Journal of Guidance, Control, and Dynamics ; 41 , 7 ; 1556-1568
2018-02-28
13 pages
Article (Journal)
Electronic Resource
English
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