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Closed-Loop Perching and Spatial Guidance Laws for Bio-Inspired Articulated Wing MAV

Paranjape, Aditya and Kim, Joseph and Chung, Soon-Jo (2012) Closed-Loop Perching and Spatial Guidance Laws for Bio-Inspired Articulated Wing MAV. In: AIAA Guidance, Navigation, and Control Conference, 2012. AIAA , Reston, VA, Art. No.-2012. ISBN 978-1-60086-938-9. http://resolver.caltech.edu/CaltechAUTHORS:20161129-114235228

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Abstract

This paper presents the underlying theoretical developments and successful experimental demonstrations of perching of an aerial robot. The open-loop lateral-directional dynamics 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 nonlinear 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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2012-4979DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2012-4979PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2012 by Aditya A. Paranjape and Soon-Jo Chung. Published by the American Institute of Aeronautics and Astronautics (AIAA). This project was supported by the Air Force Office of Scientific Research (AFOSR) under the Young Investigator Award Program (Grant No. FA95500910089) monitored by Dr. W. Larkin. The concept of wing articulation was presented to the authors by Dr. Gregg Abate at AFRL. Nihar Gandhi and Xichen Shi, both of them undergrad students, and Sana Ashraf, a graduate student at UIUC, helped build the aircraft and also participated in the experiments. Their contributions are gratefully acknowledged.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA95500910089
Record Number:CaltechAUTHORS:20161129-114235228
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161129-114235228
Official Citation:Aditya Paranjape, Joseph Kim, and Soon-Jo Chung. "Closed-Loop Perching and Spatial Guidance Laws for Bio-Inspired Articulated Wing MAV", AIAA Guidance, Navigation, and Control Conference, Guidance, Navigation, and Control and Co-located Conferences, http://dx.doi.org/10.2514/6.2012-4979
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72405
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:29 Nov 2016 20:14
Last Modified:04 Jan 2017 19:15

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