Stabilization of Flapping-Wing Micro-Air Vehicles in Gust Environments

This study presents an approach to develop a controller for stabilization of a flapping-wing micro-air vehicle operating in gusty environments. The rigid-wing micro-air vehicle is modeled as a nonlinear periodic system and the periodic shooting method is used to find a trimmed periodic orbit. A linearized discrete-time representation of the system is created about this trimmed periodic orbit. This linearized representation is used for control synthesis based on linear quadratic regulator theory. The kinematic variables defining the wing motion are used as control inputs. The controller is implemented on the nonlinear system model to stabilize the system in the presence of external disturbances, modeled as discrete gusts in this study. The performance of the controller in terms of the gust speed tolerance of the nonlinear, closed-loop system is compared for different sets of controller parameters. The linear quadratic regulator based controller is capable of stabilizing the system under both longitudinal a...

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