engleski

NOVEL CONTROL ALGORITHM FOR INSECT TYPE FLAPPING WING MUAV

In this work we study dynamics of flapping-wing micro unmanned aerial vehicle (MUAV) of the insect type. We present a novel control algorithm based on the reduced mechanical model and Discrete Mechanics and Optimal Control (DMOC) approach. In recent years, the control of such systems has drawn considerable attention of both researchers and engineers. However, there are still many challenges in the process: for example, synthesis of wing mechanism - that allows for complex kinematics with high flapping frequencies - is cumbersome due to involved aerodynamics of the insect type flapping wings (small Re number, unsteady flow, formidable vortex dynamics on the both edges etc.). Also, due to the coupling between fluid and high-frequency mechanism, the optimal control of such aerial vehicle represents a challenging task.

Underactuated Nonlinear Mechanical Systems, Discrete Mechanics and Optimal Control (DMOC), Optimization of Flapping Wing Kinematics, Flapping Wing MUAV

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