A New Control Framework for Flapping-Wing Vehicles Based on 3D Pendulum Dynamics


N. -seung P. Hyun, R. J. Wood, and S. Kuindersma, “A New Control Framework for Flapping-Wing Vehicles Based on 3D Pendulum Dynamics,” Automatica, Submitted.
robobee-control.pdf1.76 MB


The Harvard RoboBee is a controlled flapping-wing vehicle which can generate lift force and body torques based on different flapping schemes. One of the challenges in the controller design is that the center of pressure (CoP) of aerodynamic drag is not collocated with the center of mass of the vehicle, which creates additional nonlinear coupling between translational and angular velocities. In this paper, an almost globally asymptotically stable (AGAS) tracking controller is presented by exploiting passive aerodynamic effects to stabilize the attitude dynamics. First, global attitude stability to a vertical orientation in the world frame is shown for an unforced system, which illustrates that the aerodynamic damping on the CoP passively stabilizes the system to align the body vertically in the world frame. Next, a new coordinate system is proposed using a near-identity diffeomorphism that admits a partial feedback linearization with almost globally stable zero dynamics. The behavior of the zero dynamics resembles the dynamics of a 3D pendulum with an aerodynamic damper. Finally, an exponentially stabilizing output tracking controller is proposed with an ultimate bound on the full state dynamics. A variation of LaSalle's invariance principle that does not require a compact forward invariant set is considered and used in the proof of AGAS. Simulation results of the RoboBee tracking a Lissajous curve flight trajectory are provided.

Last updated on 01/23/2019