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Adaptive attitude and position control of an insect-like flapping wing air vehicle
, Article Nonlinear Dynamics ; Volume 85, Issue 1 , 2016 , Pages 47-66 ; 0924090X (ISSN) ; Taymourtash, N ; Sharif University of Technology
Springer Netherlands
Abstract
This study describes an adaptive sliding mode technique for attitude and position control of a rigid body insect-like flapping wing model in the presence of uncertainties. For this purpose, a six-degrees-of-freedom nonlinear and time-varying dynamic model of a typical hummingbird is considered for simulation studies. Based on the quasi-steady assumptions, three major aerodynamic loads including delayed stall, rotational lift and added mass are presented and analyzed, respectively. Using the averaging theory, a time-varying system is then transformed into the time-invariant system to design the adaptive controller. The controller is designed so that the closed-loop system will follow any...