Robust Linear Longitudinal Feedback Control of a Flapping Wing Micro Air Vehicle

María Belmonte, Lidia and Morales, R. and Fernández-Caballero, Antonio and Somolinos Sánchez, José Andrés (2015). Robust Linear Longitudinal Feedback Control of a Flapping Wing Micro Air Vehicle. "Lecture Notes in Computer Science", v. 9107 ; pp. 449-458. ISSN 0302-9743. https://doi.org/10.1007/978-3-319-18914-7_47.

Description

Title: Robust Linear Longitudinal Feedback Control of a Flapping Wing Micro Air Vehicle
Author/s:
  • María Belmonte, Lidia
  • Morales, R.
  • Fernández-Caballero, Antonio
  • Somolinos Sánchez, José Andrés
Item Type: Article
Event Title: International Work-Conference on the Interplay Between Natural and Artificial Computation - IWINAC 2015
Título de Revista/Publicación: Lecture Notes in Computer Science
Date: 2015
ISSN: 0302-9743
Volume: 9107
Subjects:
Faculty: E.T.S.I. Navales (UPM)
Department: Arquitectura, Construcción y Sistemas Oceánicos y Navales (Dacson)
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper falls under the idea of introducing biomimetic miniature air vehicles in ambient assisted living and home health applications. The concepts of active disturbance rejection control and flatness based control are used in this paper for the trajectory tracking tasks in the flapping-wing miniature air vehicle (FWMAV) time-averaged model. The generalized proportional integral (GPI) observers are used to obtain accurate estimations of the flat output associated phase variables and of the time-varying disturbance signals. This information is used in the proposed feedback controller in (a) approximate, yet close, cancelations, as lumped unstructured time-varying terms, of the influence of the highly coupled nonlinearities and (b) the devising of proper linear output feedback control laws based on the approximate estimates of the string of phase variables associated with the flat outputs simultaneously provided by the disturbance observers. Numerical simulations are provided to illustrate the effectiveness of the proposed approach.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2014-53499RUnspecifiedUniversidad Politécnica de MadridControl de operaciones de dispositivos marinos de aprovechamiento de la energía hidrocinetica
Government of SpainTIN2013-47074-C2-1-RUnspecifiedUnspecifiedInteligencia ambiental y robótica emocional para la mejora de la calidad de vida y cuidado del anciano mediante la regulación inteligente de emociones

More information

Item ID: 41362
DC Identifier: http://oa.upm.es/41362/
OAI Identifier: oai:oa.upm.es:41362
DOI: 10.1007/978-3-319-18914-7_47
Official URL: https://link.springer.com/chapter/10.1007/978-3-319-18914-7_47
Deposited by: Memoria Investigacion
Deposited on: 30 Jun 2017 07:33
Last Modified: 30 Jun 2017 07:33
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