Abstract
To solve the attitude control for flapping wing micro aerial vehicle (FWMAV), a mathematical model of the attitude control system is presented, and a novel continuous state feedback tracking controller is proposed. The dynamic model of FWMAV is analyzed and it is known that the attitude control system is a second-order multi-input multi-output nonlinear system, and it embodies uncertainty, multi-variable coupled parameters, and all kinds of disturbances. To track the attitude movement effectively, an integral feedback compensation strategy is contrived through identifying on-line and compensating real-timely the quantities of external disturbances and parametric uncertainties, and only the upper boundary of their derivative is required. A Lyapunov based stability analysis is provided to conclude the identification and tracking results, and simulation is performed to verify the validity of the proposed method. This research is valuable in theory and practice.
| Original language | English |
|---|---|
| Pages (from-to) | 169-172 |
| Number of pages | 4 |
| Journal | Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University |
| Volume | 28 |
| Issue number | 2 |
| State | Published - Feb 2007 |
Keywords
- Attitude control
- Flapping wing
- Integral feedback compensation
- Micro aerial vehicle
- Nonlinearity
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