Modeling and vibration control of the flapping-wing robotic aircraft with output constraint

Abstract In this paper, we propose the boundary control for undesired vibrations suppression with output constraint of the flapping-wing robotic aircraft (FWRA). We also present the dynamics of the flexible wing of FWRA with governing equations and boundary conditions, which are partial differential equations (PDEs) and ordinary differential equations (ODEs), respectively. An energy-based barrier Lyapunov function is introduced to analyze the system stability and prevent violation of output constraint. With the effect of the proposed boundary controller, distributed states of the system remain in the constrained spaces. Then the IBLF-based boundary controls are proposed to assess the stability of the FWRA in the presence of output constraint.

[1]  Soon-Jo Chung,et al.  Neurobiologically Inspired Control of Engineered Flapping Flight , 2010 .

[2]  M. Krstić.  Boundary Control of PDEs: A Course on Backstepping Designs , 2008 .

[3]  Changyin Sun,et al.  Development of an autonomous flapping-wing aerial vehicle , 2017, Science China Information Sciences.

[4]  Fumitoshi Matsuno,et al.  Energy-based control of axially translating beams: varying tension, varying speed, and disturbance adaptation , 2005, IEEE Transactions on Control Systems Technology.

[5]  Keng Peng Tee,et al.  Control of state-constrained nonlinear systems using Integral Barrier Lyapunov Functionals , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[6]  Soon-Jo Chung,et al.  Dynamics and Performance of Tailless Micro Aerial Vehicle with Flexible Articulated Wings , 2012 .

[7]  Masaki Hamamoto,et al.  A Fundamental Study of Wing Actuation for a 6-in-Wingspan Flapping Microaerial Vehicle , 2010, IEEE Transactions on Robotics.

[8]  Bao-Zhu Guo,et al.  The Active Disturbance Rejection Control to Stabilization for Multi-Dimensional Wave Equation With Boundary Control Matched Disturbance , 2015, IEEE Transactions on Automatic Control.

[9]  Lei Guo,et al.  Coupling-observer-based nonlinear control for flexible air-breathing hypersonic vehicles , 2014 .

[10]  Wei Guo,et al.  The strong stabilization of a one-dimensional wave equation by non-collocated dynamic boundary feedback control , 2009, Autom..

[11]  Changyin Sun,et al.  Boundary Vibration Control of Variable Length Crane Systems in Two-Dimensional Space With Output Constraints , 2017, IEEE/ASME Transactions on Mechatronics.

[12]  Yunhui Liu,et al.  Stabilizing a flexible beam handled by two manipulators via PD feedback , 2000, IEEE Trans. Autom. Control..

[13]  Fei-Yue Wang,et al.  On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators , 2016, IEEE/CAA Journal of Automatica Sinica.

[14]  Soon-Jo Chung,et al.  Neurobiologically Inspired Control of Engineered Flapping Flight , 2009, 0905.2789.

[15]  Changyin Sun,et al.  An Analysis of a Neural Dynamical Approach to Solving Optimization Problems , 2009, IEEE Transactions on Automatic Control.

[16]  Huai-Ning Wu,et al.  Static output feedback control via PDE boundary and ODE measurements in linear cascaded ODE-beam systems , 2014, Autom..

[17]  Francis Eng Hock Tay,et al.  Barrier Lyapunov Functions for the control of output-constrained nonlinear systems , 2009, Autom..

[18]  Scott W. Hansen,et al.  Boundary Control of a Linear Thermoelastic Beam , 1997 .

[19]  Peter Ifju,et al.  Flexible-wing-based Micro Air Vehicles , 2002 .

[20]  Bin Yao,et al.  A Two-Loop Performance-Oriented Tip-Tracking Control of a Linear-Motor-Driven Flexible Beam System With Experiments , 2013, IEEE Transactions on Industrial Electronics.

[21]  Miroslav Krstic,et al.  Compensating a string PDE in the actuation or sensing path of an unstable ODE , 2009, 2009 American Control Conference.

[22]  Keng Peng Tee,et al.  Adaptive Neural Control for Output Feedback Nonlinear Systems Using a Barrier Lyapunov Function , 2010, IEEE Transactions on Neural Networks.

[23]  Haibo He,et al.  Air-Breathing Hypersonic Vehicle Tracking Control Based on Adaptive Dynamic Programming , 2017, IEEE Transactions on Neural Networks and Learning Systems.

[24]  Changyin Sun,et al.  Adaptive Neural Network Control of a Flapping Wing Micro Aerial Vehicle With Disturbance Observer , 2017, IEEE Transactions on Cybernetics.

[25]  Miroslav Krstic,et al.  Arbitrary Decay Rate for Euler-Bernoulli Beam by Backstepping Boundary Feedback , 2009, IEEE Transactions on Automatic Control.

[26]  Johnny Evers,et al.  Sensitivities & functional gains for a flexible aircraft-inspired model , 2010, Proceedings of the 2010 American Control Conference.

[27]  Fumitoshi Matsuno,et al.  Simple Boundary Cooperative Control of Two One-Link Flexible Arms for Grasping , 2009, IEEE Transactions on Automatic Control.

[28]  Miroslav Krstic,et al.  PDE Boundary Control for Flexible Articulated Wings on a Robotic Aircraft , 2013, IEEE Transactions on Robotics.

[29]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[30]  Keng Peng Tee,et al.  Control of nonlinear systems with time-varying output constraints , 2009, 2009 IEEE International Conference on Control and Automation.

[31]  S. Shankar Sastry,et al.  Flapping flight for biomimetic robotic insects: part II-flight control design , 2006, IEEE Transactions on Robotics.

[32]  Shuang Zhang,et al.  Control Design for Nonlinear Flexible Wings of a Robotic Aircraft , 2017, IEEE Transactions on Control Systems Technology.

[33]  Wei Shyy,et al.  Flexible-wing-based Micro Air Vehicles , 2002 .

[34]  Changyin Sun,et al.  Modeling and vibration control of flexible wings with output constraint , 2016, 2016 12th World Congress on Intelligent Control and Automation (WCICA).

[35]  Irena Lasiecka,et al.  Optimal boundary control with critical penalization for a PDE model of fluid–solid interactions , 2009 .

[36]  Robert J. Wood,et al.  The First Takeoff of a Biologically Inspired At-Scale Robotic Insect , 2008, IEEE Transactions on Robotics.

[37]  Afshin Banazadeh,et al.  Adaptive attitude and position control of an insect-like flapping wing air vehicle , 2016 .

[38]  Xinghuo Yu,et al.  Euler's discretization effect on a twisting algorithm based sliding mode control , 2016, Autom..

[39]  Shuzhi Sam Ge,et al.  Adaptive Boundary Control of a Nonlinear Flexible String System , 2014, IEEE Transactions on Control Systems Technology.