Title :
Robust hovering control of a single-DOF flapping wing MAV
Author_Institution :
Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH, USA
fDate :
June 30 2010-July 2 2010
Abstract :
We present in this note preliminary results on control design and stability analysis for robust control of ?apping wing Micro Aerial Vehicles (MAVs). The simple case considered in this paper, namely hovering control of a 1-DOF MAV model, is meant to illustrate some of the speci?c issues arising with the control of ?apping-wing MAV, which stem from the peculiar characteristics of the actuation mechanism. The main purpose of the paper is to set a rigorous framework in which results from averaging theory and stabilization by bounded feedback can be effectively combined.
Keywords :
aerospace components; aircraft control; asymptotic stability; control system synthesis; mobile robots; remotely operated vehicles; robust control; actuation mechanism; averaging theory; bounded feedback; flapping wing MAV; micro aerial vehicle; robust control; robust hovering control; single DOF; stability analysis; Aerodynamics; Control design; Frequency; Gravity; Marine vehicles; Open loop systems; Prototypes; Robust control; Robust stability; Stability analysis;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531147
