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Inertial attitude control of a bat-like morphing-wing micro air vehicle

AuthorsColorado, J. M.; Barrientos, Antonio ; Rossi, Claudio ; Parra C.
Attitude controller
Flight control
Morphing-wing UAVs
SMA actuators
Issue Date2013
PublisherInstitute of Physics Publishing
CitationBioinspiration and Biomimetics 8: 1-17 (2013)
AbstractThis article presents a novel bat-like micro air vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should maneuver by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Secondly, an attitude controller named backstepping+DAF is proposed. Motivated by the biological fact about the influence of wing inertia on the production of body accelerations, the attitude control law incorporates wing inertia information to produce desired roll (φ) and pitch (θ) acceleration commands (DAF function). This novel control approach is aimed at incrementing net body forces (Fnet ) that generate propulsion. Simulations and wind-tunnel experimental results have shown an increase about 23% in net body force production during the wingbeat cycle when the wings are modulated using the DAF function as a part of the backstepping control law. Results also confirm accurate attitude tracking in spite of high external disturbances generated by aerodynamic loads at airspeeds up to 5ms−1.
Publisher version (URL)http://dx.doi.org/10.1088/1748-3182/8/1/016001
Appears in Collections:(CAR) Artículos
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