Virtual Holonomic Constraint を用いた 小型羽ばたき翼機の姿勢安定化

藤田 浩輝; 河邉 博康

doi:10.11511/jacc.54.0.430.0

THE 54TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 2L202

DOI https://doi.org/10.11511/jacc.54.0.430.0

Conference information

Host: The Society of Instrument and Control Engineers, The Japan Society of Mechanical Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Toyohashi University of Technology, Technically Cosponsored by 51 Societies and Institutes

Autonomous Guidance and Control in Aerospace Engineering

An Attitude Stabilization of Flapping-wing MAV Utilizing Virtual Holonomic Constraint

*Koki Fujita, Hiroyasu Kawabe

Author information

Keywords: flapping-wing MAV, averaged system, virtual holonomic constraint, attitude stabilization

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

This study proposes a method to control flapping-wing micro aerial vehicle (Flapping-wing MAV) with less control inputs. Firstly, complex time-varying system for dynamics of Flapping-wing MAV is approximated by an averaged system. Then, utilizing an approach called virtual holonomic constraint, a control law with only two inputs (stroke amplitudes of left and right wings) is derived to stabilize six attitude parameters. A numerical simulation is finally conducted to show the effectiveness of the control law with respect to the averaged system.

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