Control method for bionic flapping-wing aerial robot

A flying robot and control method technology, applied in attitude control, adaptive control, general control system and other directions, can solve the problems of complex dynamic model and few control algorithms.

Active Publication Date: 2017-05-24
UNIV OF SCI & TECH BEIJING
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Problems solved by technology

[0003] The dynamic model of the six-degree-of-freedom bionic flapping-wing flying robot system is very complicated
[0004] At present, there are very few patents on the bionic flapping-wing flying robot, and even fewer control algorithms based on the model design of the bionic flapping-wing flying robot

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  • Control method for bionic flapping-wing aerial robot
  • Control method for bionic flapping-wing aerial robot
  • Control method for bionic flapping-wing aerial robot

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Embodiment Construction

[0065] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0066] In order to better understand this embodiment, some abbreviations in this article are illustrated first, for example, q r is q r Short form of (t), yes the shorthand form of yes The abbreviated form of τ r is τ r Short form of (t), τ t for τ t Short form of (t), x r1d is x r1d The abbreviation form of (t), other similar abbreviations will not be explained one by one.

[0067] In this paper, the form is represents the first derivative, Indicates the second order derivative, unless otherwise specified, it is derived with respect to time t, for example, is the first derivative of w with respect to time t.

[0068] see figure 1 As shown, the control method for the bionic flapping-wing flying robot provided by the embodiment of th...

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Abstract

The invention provides a control method for a bionic flapping-wing aerial robot. Trajectory tracking control can be performed on the attitude and the position of the bionic flapping-wing aerial robot. The method comprises the steps that kinematic and dynamic analysis is performed on the bionic flapping-wing aerial robot, and a Lagrange model is established; a model-based attitude controller equipped with a disturbance observer is designed based on the Lagrange model; a neural network full state feedback attitude controller equipped with the disturbance observer is designed based on the designed model-based attitude controller equipped with the disturbance observer; a model-based position controller equipped with the disturbance observer is designed based on the position control model of the bionic flapping-wing aerial robot; and trajectory tracking control can be performed on the attitude and the position of the bionic flapping-wing aerial robot according to the designed model-based attitude controller equipped with the disturbance observer, the neural network full state feedback attitude controller equipped with the disturbance observer and the model-based position controller equipped with the disturbance observer. The control method for the bionic flapping-wing aerial robot relates to the technical field of automatic control.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a control method for a bionic flapping-wing flying robot. Background technique [0002] In recent years, with the continuous increase of people's demand for UAV technology and the rapid development of advanced manufacturing technology, new material technology and new energy technology, the research of bionic flapping wing flying robot has become a technical hotspot. Inspired by flying insects and hummingbirds, scientists have proposed the concept of bionic flapping-wing flying robots and produced a variety of bionic flapping-wing flying robots. The advantages of the bionic flapping-wing flying robot are small size, good at low-altitude flight, and excellent hovering and circling capabilities. These outstanding advantages provide the possibility for target search, rescue and military reconnaissance in specific environments. [0003] The dynamic model of the six-degree-...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/08G05D1/10
CPCG05B13/04G05D1/0808G05D1/101
Inventor 贺威闫子晨孙长银李鸿一
Owner UNIV OF SCI & TECH BEIJING
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