Closed-Loop Perching and Spatial Guidance Laws for Bio-Inspired Articulated Wing MAV
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.
© 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.
Published - AIAA_GNC_Perching_2012.pdf