Model-Free Control of a Hovering Flapping-Wing Microrobot The Design Process of a Stabilizing Multiple-Input–Multiple-Output Controller

We present a model-free experimental method to find a control strategy for achieving stable flight of a dual-actuator biologically inspired flapping-wing flying microrobot during hovering. The main idea proposed in this work is the sequential tuning of parameters for an increasingly more complex str...

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Bibliographic Details
Published inJournal of intelligent & robotic systems Vol. 77; no. 1; pp. 95 - 111
Main Authors Pérez-Arancibia, Néstor O., Duhamel, Pierre-Emile J., Ma, Kevin Y., Wood, Robert J.
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.01.2015
Subjects
Altitude
Artificial Intelligence
Control
Electrical Engineering
Engineering
Hovering
Mathematical models
Mechanical Engineering
Mechatronics
Microrobots
Robotics
Robots
Strategy
Tasks
Tuning
Flapping-wing flight
Real-time control
Microrobotics
Experimental robotics
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ISSN0921-0296
1573-0409
DOI10.1007/s10846-014-0096-8

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Summary:We present a model-free experimental method to find a control strategy for achieving stable flight of a dual-actuator biologically inspired flapping-wing flying microrobot during hovering. 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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ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-014-0096-8