In this paper, we present a model-free experimental method to find a control strategy for achieving stable and autonomous, from a control perspective, flight of a dual-actuator biologically inspired flapping-wing flying microrobot. 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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    Title :

    Model-free control of a flapping-wing flying microrobot




    Publication date :

    2013-11-01


    Size :

    1526476 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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