CaltechAUTHORS
  A Caltech Library Service

Modeling and Nonlinear Flight Controller Synthesis of a Bat-Inspired Micro Aerial Vehicle

Ramezani, Alireza and Shi, Xichen and Chung, Soon-Jo and Hutchinson, Seth (2016) Modeling and Nonlinear Flight Controller Synthesis of a Bat-Inspired Micro Aerial Vehicle. In: AIAA Guidance, Navigation, and Control Conference 2016. American Institute of Aeronautics and Astronautics (AIAA) , Reston, VA, Art. No. 2016-1376. ISBN 978-1-62410-389-6. http://resolver.caltech.edu/CaltechAUTHORS:20161130-080521015

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:20161130-080521015

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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2016-1376DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2016-1376PublisherArticle
ORCID:
AuthorORCID
Ramezani, Alireza0000-0002-3391-5288
Chung, Soon-Jo0000-0002-6657-3907
Hutchinson, Seth0000-0002-3949-6061
Alternate Title:Nonlinear Flight Controller Synthesis of a Bat-Inspired Micro Aerial Vehicle
Additional Information:© 2015 American Institute of Aeronautics and Astronautics.
Group:GALCIT
Other Numbering System:
Other Numbering System NameOther Numbering System ID
AIAA Paper2016-1376
Record Number:CaltechAUTHORS:20161130-080521015
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161130-080521015
Official Citation:Alireza Ramezani, Xichen Shi, Soon-Jo Chung, and Seth Hutchinson. "Nonlinear Flight Controller Synthesis of a Bat-Inspired Micro Aerial Vehicle", AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, (AIAA 2016-1376) http://dx.doi.org/10.2514/6.2016-1376
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72427
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:30 Nov 2016 17:17
Last Modified:18 May 2017 21:18

Repository Staff Only: item control page