【摘要】 对于微型仿昆飞行机器人驻飞时姿态的控制 ,提出了一个基于平均力矩的控制方案 ,并且通过改变翅的迎角来获得所需的姿态控制平均力矩。在每个拍动周期结束后 ,根据状态反馈误差调整迎角。在假设驻飞时姿态偏离角度较小的情况下 ,对控制系统进行了线性化近似和解耦。最后对控制系统进行了仿真 ,仿真结果表明了该系统具有鲁棒性更多还原

【Abstract】 For hovering attitude control of insect-like flying microrobot,a method of average torque is proposed.The wings motion is parameterized by an angle of attack which is sufficient to generate desired average torques to regulate its hovering attitude.At the end of each wingbeat,the controller schedules the desired angle of attack according to state feedback errors.The attitude control system are linearized and decoupled under small angle assumption near hovering.The proposed controller is simulated.The results show to indicate robust stabilization of attitude control.更多还原