| dc.description.abstract | Compared with the fixed-wing and rotor aircraft, the
flapping-wing micro aerial vehicle
is of great interest to many communities because of its high efficiency and
flexible maneuverability.
However, issues such as the small size of the vehicles, complex dynamics and
complicated systems due to uncertainty, nonlinearity, and multi-coupled parameters cause
several significant challenges in construction and control. In this thesis, based on Euler angle
and unit quaternion representations, the backstepping technique is used to design attitude
stabilization controllers and position tracking controllers for a good control performance of
a
flapping-wing micro aerial vehicle.
The attitude control of a
apping{wing micro aerial vehicle is achieved by controlling the
aerodynamic forces and torques, which are highly nonlinear and time{varying. To control
such a complex system, a dynamic model is derived by using the Newton{Euler method.
Based on the mathematical model, the backstepping technique is applied with the Lyapunov
stability theory for the controller design. Moreover, because a
flapping-wing micro aerial
vehicle has very
exible wings and oscillatory
flight characteristics, the adaptive fuzzy control
law as well as H1 control strategy are also used to estimate the unknown parameters and
attenuate the impact of external disturbances. What is more, due to the problem of the
gimbal lock of Euler angles, the unit quaternion representation is used afterwards.
As for position control, the forward movement is controlled by the thrust and lift force
generated by the wings of
flapping-wing micro aerial vehicles. To make the actual position
and velocity follow the desired trajectory and velocity, the backstepping scheme is used based
on a unit quaternion representation. In order to reduce the complexity of differentiation of
the virtual control in the design process, a dynamic surface control method is then used by
the idea of a low-pass filter.
Matlab simulation results prove the mathematical feasibility and also illustrate that all the
proposed controllers have a stable control performance. | en_US |
