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MODELING AND CONTROL OF A FLAPPING WING MICRO AIR VEHICLE

Vernekar, Pratik N.

Abstract Details

2012, Master of Science, Ohio State University, Electrical and Computer Engineering.
In this thesis we propose a new wingbeat control strategy with amplitude modulation and time-rescaling for a six-degree-of-freedom flapping-wing micro air vehicle (MAV) model. Implementation of the amplitude modulation and time-rescaling is discussed, and modifications to the wingbeat forcing function are made to maintain continuity of the wing position. Cycle-averaged forces and moments, and cycle-averaged control derivatives are computed to derive nonlinear and linear control design models (CDMs) of the MAV. The proposed wingbeat control strategy is capable of generating non-zero cycle-averaged x-body and z-body axis forces, and non-zero cycle-averaged rolling, pitching, and yawing moments. A thorough analysis of all possible output candidates is done based on the conditions of vector relative degree and internal dynamics of the linear CDM. Finally for the selected outputs, a controller is designed based on the normal form of the linear CDM. The controller is first tested on the nonlinear CDM, and finally on two higher-fidelity instantaneous blade-element models. One simulation model is based on the actual values of the vehicle parameters, while the other is based on the perturbed values where parametric uncertainties are taken into consideration. Simulation results indicate that the proposed controller is robust to parametric uncertainties and modeling errors introduced by the cycle-averaged control-oriented model.
Andrea Serrani (Advisor)
Kevin Passino (Committee Member)
109 p.

Recommended Citations

Citations

  • Vernekar, P. N. (2012). MODELING AND CONTROL OF A FLAPPING WING MICRO AIR VEHICLE [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1343326175

    APA Style (7th edition)

  • Vernekar, Pratik. MODELING AND CONTROL OF A FLAPPING WING MICRO AIR VEHICLE. 2012. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1343326175.

    MLA Style (8th edition)

  • Vernekar, Pratik. "MODELING AND CONTROL OF A FLAPPING WING MICRO AIR VEHICLE." Master's thesis, Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1343326175

    Chicago Manual of Style (17th edition)