Adaptive Controller Design for an Insect-Like Flapping Wing

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Jafari, Mohabbat | 2024

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 56822 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Banazadeh, Afshin
Abstract:
In this study, the nonlinear modeling of insect-like flapping-wing was investigated as a multi-body system using the Newton-Euler method. This modeling, in addition to aerodynamic effects, has specifically addressed the effect of mass and inertia of the wings in the equations on the dynamics of the system. Then, by transforming the equations into a state-space form, a model reference adaptive controller was designed with Lyapunov stability proof. This controller enables optimal control performance in the face of variations caused by the uncertainty of the flapping-wing parameters, considering the fast dynamics of the control actuators and introducing an optimally linearized reference system. Simulation results demonstrate that the proposed method significantly improves the control performance of the flapping-wing robot and can be effectively applied in aerospace and related industries
Keywords:
Flying Insect ; Nonlinear Modeling ; Newton-Euler Approach ; Adaptive Control ; Uncertainty ; Lyapunov Function ; Linear Optimization ; Insect-Like Flapping Winng ; Wing Mass and Inertia

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