Control of a Wing Type Flat-Plate for an Ornithopter Autonomous Robot With Differential Flatness

In this chapter, a two-degree-of-freedom controller that exploits the flat properties of a three degreeof-freedom wing type flat-plate for an Ornithopter Autonomous robot is proposed. A set of kinematical patterns inspired by nature is used to simulate the wing’s movement around two wingtip trajectories; also, the effects of the aerodynamical forces as a function of the wind velocity and the wing’s angle of attack are considered. In order to control the system, the effects of these forces are viewed as disturbs that affect the wing’s dynamics. The proposed control scheme drives the device through the desired path by generating a set of desired inputs which are compensated by a feedback loop when the aerodynamical forces actuate upon the system. Control of a Wing Type FlatPlate for an Ornithopter Autonomous Robot With Differential Flatness

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