| 仿鸟扑翼飞行器姿态镇定研究 |
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| 引用本文： | 胡明朗,魏瑞轩,崔晓峰,孔韬.仿鸟扑翼飞行器姿态镇定研究[J].机器人,2008,30(6):1. |
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| 作者姓名： | 胡明朗 魏瑞轩 崔晓峰 孔韬 |
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| 作者单位： | 1. 空军工程大学工程学院三系,陕西,西安,710038
2. 空军工程大学工程学院三系,陕西,西安,710038;西安交通大学电子与信息工程学院,陕西,西安,710049 |
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| 基金项目： | 国家863计划资助项目
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空军工程大学工程学院优秀博士学位论文创新基金资助项目
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| 摘 要： | 针对仿鸟扑翼飞行器的欠驱动特性，提出了一种简化其飞行控制问题并实现其局部渐近稳定的控制方法．建立并分析了仿鸟扑翼飞行器的动力学和运动学模型，证明其控制问题等价于升力、推力独立可控情况下的姿态控制问题．进一步分析的结果表明，仿鸟扑翼飞行器的升力、推力都是独立可控的，其姿态控制为耦合输入下刚体的姿态控制问题．通过设计光滑时变反馈控制律实现姿态控制的局部渐近稳定，从而解决扑翼飞行器的飞行控制问题．
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| 关 键 词： | 微型飞行器 仿鸟扑翼飞行器 欠驱动系统 时变控制 光滑反馈 |
Attitude Stabilization of Bird-like Flapping Wing Air Vehicle |
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| HU Ming-lang,WEI Rui-xuan,CUI Xiao-feng,KONG Tao.Attitude Stabilization of Bird-like Flapping Wing Air Vehicle[J].Robot,2008,30(6):1. |
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| Authors: | HU Ming-lang WEI Rui-xuan CUI Xiao-feng KONG Tao |
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| Affiliation: | HU Ming-lang~1 WEI Rui-xuan~(1,2) CUI Xiao-feng~1 KONG Tao~1 (1.The Third Department of Engineering Institute,Air Force Engineering University,Xi'an 710038,China,2.College of Electronic , Information Engineering,Xi'an Jiaotong University,Xi'an 710049,China) |
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| Abstract: | For the under-actuated characteristics of bird-like flapping wing air vehicle(ornithopter),a method is presented to simplify the vehicle flight control problem and realize locally asymptotic stabilization.Dynamics and kinematics models of the ornithopter are established and analyzed firstly,proving that the ornithopter control problem is equivalent to the attitude control problem under the circumstance that the lift and thrust are independently controllable.Further analysis indicates that lift and thrust of... |
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| Keywords: | micro air vehicle bird-like flapping wing air vehicle under-actuated system time-varying control smooth feedback |
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