Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Inertial attitude control of a bat-like morphing-wing air vehicle
Year:2012
Research Areas
  • Automatic
Information
Abstract
This paper presents a novel bat-like unmanned aerial vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should manoeuvre by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Secondly, an attitude controller named backstepping+DAF is proposed. Motivated by biological evidence about the influence of wing inertia on the production of body accelerations, the attitude control law incorporates wing inertia information to produce desired roll (?) and pitch (?) acceleration commands (desired angular acceleration function (DAF)). This novel control approach is aimed at incrementing net body forces (Fnet) that generate propulsion. Simulations and wind-tunnel experimental results have shown an increase of about 23% in net body force production during the wingbeat cycle when the wings are modulated using the DAF as a part of the backstepping control law. Results also confirm accurate attitude tracking in spite of high external disturbances generated by aerodynamic loads at airspeeds up to 5 ms?1.
International
Si
JCR
Si
Title
Bioinspiration & Biomimetics
ISBN
1748-3182
Impact factor JCR
1,952
Impact info
Volume
10.1088/1748-3182/8/1/016001
Journal number
From page
1
To page
17
Month
SIN MES
Ranking
Participants
  • Autor: Julian David Colorado Montaño (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Claudio Rossi (UPM)
  • Autor: Carlos Parra (Pontificia Universidad Javeriana)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
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