Closed-loop perching and spatial guidance laws for bio-inspired articulated wing MAV

Aditya A. Paranjape, Joseph Kim, Soon-Jo Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the underlying theoretical developments and successful experimen- tal demonstrations of perching of an aerial robot. The open-loop lateral-directional dynam- ics of the robot are inherently unstable because it lacks a vertical tail for agility, similar to birds. A unique feature of this robot is that it uses wing articulation for controlling the flight path angle as well as the heading. New guidance algorithms with guaranteed stability are obtained by rewriting the flight dynamic equations in the spatial domain rather than as functions of time, after which dynamic inversion is employed. It is shown that nonlin- ear dynamic inversion naturally leads to proportional-integral-derivative (PID) controllers, thereby providing an exact method for tuning the gains. The effectiveness of the proposed bio-inspired robot design and its novel closed-loop perching controller has been successfully demonstrated with perched landings on a human hand.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2012
StatePublished - Dec 1 2012
EventAIAA Guidance, Navigation, and Control Conference 2012 - Minneapolis, MN, United States
Duration: Aug 13 2012Aug 16 2012

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2012

Other

OtherAIAA Guidance, Navigation, and Control Conference 2012
CountryUnited States
CityMinneapolis, MN
Period8/13/128/16/12

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ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Paranjape, A. A., Kim, J., & Chung, S-J. (2012). Closed-loop perching and spatial guidance laws for bio-inspired articulated wing MAV. In AIAA Guidance, Navigation, and Control Conference 2012 (AIAA Guidance, Navigation, and Control Conference 2012).