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Modeling and LQR Control of Insect Sized Flapping Wing Robot by Dhingra, Daksh; Kaheman, Kadierdan; Fuller, Sawyer B. is a scholarly article available to read on EtoBox.

What is Modeling and LQR Control of Insect Sized Flapping Wing Robot about?

Flying insects can perform rapid, sophisticated maneuvers like backflips, sharp banked turns, and in-flight collision recovery. To emulate these in aerial robots weighing less than a gram, known as flying insect robots (FIRs), a fast and responsive control system is essential. To date, these have largely been, at their core, elaborations of proportional-integral-derivative (PID)-type feedback control. Without exception, their gains have been painstakingly tuned by hand. Aggressive maneuvers have further required task-specific tuning. Optimal control has the potential to mitigate these issues, but has to date only been demonstrated using approxiate models and receding horizon controllers (RHC) that are too computationally demanding to be carried out onboard the robot. Here we used a more accurate stroke-averaged model of forces and torques to implement the first demonstration of optimal control on an FIR that is computationally efficient enough to be performed by a microprocessor carried onboard. We took force and torque measurements from a 150 mg FIR, the UW Robofly, using a custom-built sensitive force-torque sensor, and validated them using motion capture data in free flight. We

Author

Dhingra, Daksh; Kaheman, Kadierdan; Fuller, Sawyer B.

Published

2024

Language

EN