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http://dx.doi.org/10.12673/jant.2017.21.5.450

Linear Quadratic Controller Design of Insect-Mimicking Flapping Micro Aerial Vehicle  

Kim, Sungkeun (Department of Electro-Optronics.PGM R&D Center, Hanwha Systems)
Kim, Inrae (Department of Aerospace Engineering, Chungnam National University)
Kim, Seungkeun (Department of Aerospace Engineering, Chungnam National University)
Suk, Jinyoung (Department of Aerospace Engineering, Chungnam National University)
Publication Information
Journal of Advanced Navigation Technology / v.21, no.5, 2017 , pp. 450-458 More about this Journal
Abstract
This paper presents dynamic modelling and simulation study on attitude/altitude control of an insect-mimicking flapping micro aerial vehicle during hovering. Mathematical modelling consists of three parts: simplified flapping kinematics, flapping-wing aerodynamics, and six degree of freedom dynamics. Attitude stabilization is accomplished through linear quadratic regulator based on the linearized model of the time-varying nonlinear system, and altitude control is designed in the outer loop using PID control. The performance of the proposed controller is verified through numerical simulation where attitude stabilization and altitude control is done for hovering. In addition, it is confirmed that the attitude channel by periodic control is marginally stable against periodic pitching moment caused by flapping.
Keywords
Flapping Wing; Insect-mimicking; Modeling; Flapping micro aerial vehicle; Linear quadratic regulator control;
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Times Cited By KSCI : 1  (Citation Analysis)
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