Loading...

Adaptive Attitude and Position Control of a Rigid Body Insect-Like Flapping Wing

Taymourtash, Neda | 2014

663 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 46096 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Banazadeh, Afshin
  7. Abstract:
  8. In this study, adaptive control of attitude and position of a rigid body insect-like flapping wing is investigated. For this purpose, a non-linear dynamic and time varying modeling and simulation is carried out initially with six degrees of freedom, and then the accuracy of the simulation is evaluated during different test cases. In order to design the controller, non-linear and time varying dynamic is transformed into non-linear and time-invariant dynamic using theory of averaging. Then, a non-linear controller is designed based on Lyapunov stability theory. Due to the inefficiency of the aforementioned controller under disturbances and unknown uncertainties in the model, an adaptive controller is designed through indirect method. However, since the flapping wing is inherently instable in different rotational degrees of freedom, the adaptive indirect method can be used only for controlling the position. Consequently, an adaptive controller is designed through direct method, so that the system can be stabilized and controlled without estimating existing uncertainties in the model. Therefore, simulation results show that a combination of the direct and indirect methods can control the attitude and position of a rigid body insect-like flapping wing in spite of uncertainties and unknown disturbances
  9. Keywords:
  10. Nonlinear Modeling ; Adaptive Control ; Attitude Control ; Position Control ; Lnsect-Like Flapping Wing

 Digital Object List

 Bookmark

No TOC