Loading [MathJax]/extensions/TeX/cellcolor_ieee.js
Banking Turn of High-DOF Dynamic Morphing Wing Flight by Shifting Structure Response Using Optimization | IEEE Conference Publication | IEEE Xplore

Banking Turn of High-DOF Dynamic Morphing Wing Flight by Shifting Structure Response Using Optimization


Abstract:

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...Show More

Abstract:

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 control method to interact with such a complex system. Bats, in particular, are capable of performing highly agile aerial maneuvers such as tight banking and bounding flight solely using their highly flexible wings. In this work, we develop a control method for a bio-inspired bat robot, the Aerobat, using small low-powered actuators to manipulate the flapping gait and the resulting aerodynamic forces. We implemented a controller based on collocation approach to track a desired roll and perform a banking maneuver to be used in a trajectory tracking controller. This controller is implemented in a simulation to show its performance and feasibility.
Date of Conference: 15-19 July 2024
Date Added to IEEE Xplore: 22 August 2024
ISBN Information:

ISSN Information:

Conference Location: Boston, MA, USA

I. Introduction

Bats possess highly dynamic morphing wings which are known to be extremely high-dimensional with many active and passive modes [1]. They can take advantage of their flexible wings to dynamically morph the shape of their wings to perform highly acrobatic maneuvers such as tight banking and turning maneuvers [2], [3]. Copying bat dynamic morphing wing can bring fresh perspectives to micro aerial vehicle (MAV) design but is also extremely challenging [4]–[6].

References

References is not available for this document.