Related papers: Roll Control in Fruit Flies
Approximately half of the existing winged-insect species are of very small size (wing length about 0.3-4 mm); they are referred to as miniature insects. Yet until recently, much of what we know about the mechanics of insect flight was…
Attitude control of a novel regional truss-braced wing aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications,…
Input constraints as well as parametric uncertainties must be accounted for in the design of safe control systems. This paper presents an adaptive controller for multiple-input-multiple-output (MIMO) plants with input magnitude and rate…
The large active wing deformation is a significant way to generate high aerodynamic forces required in bat flapping flight. Besides the twisting, the elementary morphing models of a bat wing are proposed, such as wing-bending in the…
In this paper we examine the detailed theory of the American football in flight, with spin and air resistance included. We find the theory has much in common with the theory of a gyroscope and also rocket trajectory with a misaligned…
Soft-actuated insect-scale micro aerial vehicles (IMAVs) pose unique challenges for designing robust and computationally efficient controllers. At the millimeter scale, fast robot dynamics ($\sim$ms), together with system delay, model…
In windy conditions, the air is turbulent. The strong and intermittent velocity variations of turbulence are invisible to flying animals. Nevertheless, flying animals, not much larger than the smallest scales of turbulence, manage to…
Mechanisms of aerial righting in juvenile Chukar Partridge (Alectoris chukar) were studied from hatching through 14 days post hatching (dph). Asymmetric movements of the wings were used from 1 to 8 dph to effect progressively more…
Within the missile guidance and control system the autopilot must overcome an array of variables and uncertainties to maintain tracking trajectory. A large uncertainty explored in this paper is the difference between the assumed flight…
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…
Models of a playground swing have been studied since the 1960s. However, in most of them, the position of the swinger is controlled directly. This simplifies the problem but hides the mechanics of torques applied to keep the swing moving in…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
Flapping-wing micro aerial vehicles offer quieter and safer operation than rotary-wing drones, yet achieving precise autonomous control of bird-scale ornithopters remains challenging: lift, airspeed, and turning authority are tightly…
This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
The canonical proportional-integral-derivative (PID) control approach has been widely used in industrial application due to their simplicity and ease of use. However, its corresponding controller parameters are hard to be adjusted,…
Controlling the shape and position of moving and pinned droplets on a solid surface is an important feature often found in microfluidic applications. In this work, we consider a well investigated phase field model including contact line…
Flexible plants, fungi, and sessile animals are thought to reconfigure in the wind and water to reduce the drag forces that act upon them. In strong winds, for example, leaves roll up into cone shapes that reduce flutter and drag when…
Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the vertex, and then puts it down to the floor. However, pivoting…