Observatorio de I+D+i UPM

Descripción
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.
Internacional	Si
JCR del ISI	Si
Título de la revista	Bioinspiration & Biomimetics
ISSN	1748-3182
Factor de impacto JCR	1,952
Información de impacto
Volumen
DOI	10.1088/1748-3182/8/1/016001
Número de revista
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Hasta la página	17
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• Autor: Julian David Colorado Montaño (UPM)
• Autor: Antonio Barrientos Cruz (UPM)
• Autor: Claudio Rossi (UPM)
• Autor: Carlos Parra (Pontificia Universidad Javeriana)

• 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