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Control Law Design for Perching an Agile MAV with Articulated Wings

Chakravarthy, Animesh and Paranjape, Aditya and Chung, Soon-Jo (2010) Control Law Design for Perching an Agile MAV with Articulated Wings. In: AIAA Atmospheric Flight Mechanics Conference. American Institute of Aeronautics and Astronautics (AIAA) , Reston, VA, Art. No. 2010-7934. ISBN 978-1-62410-151-9. http://resolver.caltech.edu/CaltechAUTHORS:20161221-084856591

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Abstract

This paper explores the use of variable wing dihedral and variable wing twist (in conjunction with a conventional horizontal elevator) to control an aircraft performing a perching maneuver. A choice of controller architecture wherein the dihedral is employed in the forward path and the elevator and twist are employed in the feedback path, is considered. The aircraft is modeled as a multivariable linear time-varying system. A specific perching trajectory is considered; and the open-loop aircraft is longitudinally unstable for a segment of this perching trajectory and lateral-directionally unstable for the entire perching trajectory. A multivariable time-varying controller is designed to efficiently stabilize the aircraft as well as reject longitudinal-lateral-directional wind disturbances, while closely tracking the reference perching trajectory.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2010-7934DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2010-7934PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2010 American Institute of Aeronautics and Astronautics, Inc. 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 original problem was posed by Dr. Gregg Abate (AFRL). This paper also benefitted from stimulating discussions with Mr. Johnny Evers (AFRL).
Group:GALCIT
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA95500910089
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Other Numbering System NameOther Numbering System ID
AIAA Paper2010-7934
Record Number:CaltechAUTHORS:20161221-084856591
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161221-084856591
Official Citation:Animesh Chakravarthy, Aditya Paranjape, and Soon-Jo Chung. "Control Law Design for Perching an Agile MAV with Articulated Wings", AIAA Atmospheric Flight Mechanics Conference, Guidance, Navigation, and Control and Co-located Conferences, () http://dx.doi.org/10.2514/6.2010-7934
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:73056
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:21 Dec 2016 18:04
Last Modified:04 Jan 2017 19:02

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