Modeling and nonlinear flight controller synthesis of a bat-inspired micro aerial vehicle

Alireza Ramezani, Xichen Shi, Soon Jo Chung, Seth Hutchinson

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

Abstract

This work examines the control of nonlinear dynamic systems to synthesize a flight controller for Bat Bot (B2). B2 is a bat-inspired Micro Aerial Vehicle (MAV) which has articulated arm wings with several actuated and passive joints. B2 is designed to mimic the flight apparatus of actual biological bats, which is distinguished from other animals such as birds because bats employ numerous joints–more than 20 joint angles per each wing–and exhibit sophisticated motion patterns. B2 has significantly fewer degrees of freedom (DoF) than biological bats and the existing movements in the mechanism of B2 are: flapping motion of the wings, folding and unfolding of the wings and dorsoventral movements of the legs. The current work contributes to recent attempts to produce autonomous flapping flight motions in a bio-inspired robot with nontrivial morphology. This work uses the Lagrange framework to develop a nonlinear dynamic model for B2, and it proposes a nonlinear controller based on the theory of singular perturbation in order to track desired attitude angles.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624103896
StatePublished - Jan 1 2016
EventAIAA Guidance, Navigation, and Control Conference, 2016 - San Diego, United States
Duration: Jan 4 2016Jan 8 2016

Publication series

Name2016 AIAA Guidance, Navigation, and Control Conference

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2016
Country/TerritoryUnited States
CitySan Diego
Period1/4/161/8/16

ASJC Scopus subject areas

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

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