Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering
Joint Authors
Jiang, Tao
Yang, Xiaosong
Wang, Hongwei
Gai, Wen
Cui, Long
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-08-22
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Compared with the tailless flapping wing micro air vehicle (FMAV), the tailed FMAV has a simpler structure and is easier to control.
However, although biplane FMAVs with tails have been used for flight control in practice for a long time, a theoretical model of the tailed FMAV has not previously been established.
In this paper, we report modeling of the longitudinal dynamics of a tailed biplane FMAV using the Newton‐Euler equations.
In this study, the vehicle was trimmed and linearized near its hovering equilibrium, assuming small disturbances.
Then the stability of the hovering FMAV was analyzed with a modal analysis method.
A state feedback controller was synthesized to stabilize the disturbance.
Finally, we investigated the flight control of the tailed biplane FMAV with different control signals.
Our results show that the natural‐motion mode determines the oscillation divergence characteristics of the tailed FMAV, a mode that can be suppressed with the state feedback controller by real‐time modulation of the tail.
The tail can also be used to achieve different flight modes with different control‐signal functions.
The tailed FMAV cruises in a line when the tail is controlled with a step function and spirals in an elliptical trajectory in the longitudinal plane when the tail is controlled by a sinusoidal function.
Our longitudinal‐ dynamics model provides an analytical basis for further dynamic analyses of the tailed FMAV, as well as the corresponding controller synthesis.
Moreover, the proposed attitude stabilization and flight control schemes for the vehicle near hovering provide a basis for developing practical uses of the tailed FMAV.
American Psychological Association (APA)
Jiang, Tao& Yang, Xiaosong& Wang, Hongwei& Gai, Wen& Cui, Long. 2019. Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering. Journal of Robotics،Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1187001
Modern Language Association (MLA)
Jiang, Tao…[et al.]. Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering. Journal of Robotics No. 2019 (2019), pp.1-12.
https://search.emarefa.net/detail/BIM-1187001
American Medical Association (AMA)
Jiang, Tao& Yang, Xiaosong& Wang, Hongwei& Gai, Wen& Cui, Long. Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering. Journal of Robotics. 2019. Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1187001
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1187001