【作者】 胡明朗； 魏瑞轩； 董志兴； 崔晓峰；

【Author】 Hu Minglang,Wei Ruixuan,DongZhiXing,Cui Xiaofeng The third department,Engineering Institute,Air Force Engineering University,Xi’an 710038,P.R.China

【机构】 空军工程大学工程学院三系；

【摘要】 仿昆扑翼飞行器是一种欠驱动系统,其控制问题具有相当的难度,基于输入参数化方法提出了一种控制方法,即通过控制振翅运动参数,在扑翼飞行器动力学系统中引入更多数目的独立控制参数直至将其转化为完全可控系统,从而解决仿昆扑翼飞行器的控制问题。结果的有效性将通过对模型的可控性分析得到证明。更多还原

【Abstract】 As an under-actuated system,the control of insect-like flapping wing micro air vehicle(FMAV)is rather difficult;a control strategy is brought forward based on input parameterization,this strategy can possess a larger number of independ-ent virtual control inputs of dynamics system by choice wing kinematics as control inputs and turn the dynamics system into a fully controllable one,then solve the control problem of FMAV.This result is validated through analyze of insect-like MAVs` controllability.更多还原