Related papers: Dynamics and Control of a Flapping Wing UAV with A…
Inspired by flight characteristics captured from live Monarch butterflies, an optimal control problem is presented while accounting the effects of low-frequency flapping and abdomen undulation. A flapping-wing aerial vehicle is modeled as…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
Abdominal Undulation with Compliant Mechanism Improves Flight Performance of Biomimetic Robotic ButterflThis paper presents the design, modeling, and experimental validation of a biomimetic robotic butterfly (BRB) that integrates a…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
This paper investigates stability analysis of flapping flight. Due to time-varying aerodynamic forces, such systems do not display fixed points of equilibrium. The problem is therefore approached via a limit cycle analysis based on Floquet…
We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also…
In this paper, we present a full dynamical model of a four-winged micro ornithopter inspired by a dragonfly-type insect. The micro ornithopter is modeled as four articulated rigid body components (wings) connected to the main body via…
In this work, high-resolution, high-speed videos of a Monarch butterfly (Danaus plexippus) in take-off flight were obtained using a photogrammetry system. Using a 3D subdivision surface reconstruction methodology, the butterfly's body/wing…
Achieving precise, highly-dynamic maneuvers with Unmanned Aerial Vehicles (UAVs) is a major challenge due to the complexity of the associated aerodynamics. In particular, unsteady effects -- as might be experienced in post-stall regimes or…
In systems control, the dynamics of a system are governed by modulating its inputs to achieve a desired outcome. For example, to control the thrust of a quad-copter propeller the controller modulates its rotation rate, relying on a…
This paper presents a geometric framework for analysis of dynamics of flapping wing micro aerial vehicles (FWMAV) which achieve locomotion in the special Euclidean group SE(3) using internal shape changes. We review the special structure of…
Bird-sized flapping-wing robots offer significant potential for agile flight in complex environments, but achieving agile and robust trajectory tracking remains a challenge due to the complex aerodynamics and highly nonlinear dynamics…
Controlling of a flapping flight is one of the recent research topics related to the field of Flapping Wing Micro Air Vehicle (FW MAV). In this work, an adaptive control system for a four-wing FW MAV is proposed, inspired by its advanced…
The 3D flight control of a flapping wing robot is a very challenging problem. The robot stabilizes and controls its pose through the aerodynamic forces acting on the wing membrane which has complex dynamics and it is difficult to develop a…
Flying vertebrates exhibit sophisticated wingbeat kinematics. Their specialized forelimbs allow for the wing morphing motion to couple with the flapping motion during their level flight, Previous flyable bionic platforms have successfully…
This research endeavors to design the perching maneuver and control in ornithopter robots. By analyzing the dynamic interplay between the robot's flight dynamics, feedback loops, and the environmental constraints, we aim to advance our…
Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely agile maneuvers. Bats heavily rely on their highly flexible…
This article presents a new control approach and a dynamic model for engineered flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically inspired control systems in the form of…
UAV collective motion has become a hot research topic in recent years. The realization of UAV collective motion, however, relied heavily on centralized control method and suffered from instability. Inspired by bird flocking theory, a…
This work briefly covers our efforts to stabilize the flight dynamics of Northeastern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora of examples is mainly dominated by insect-style design…