Lift force control of a flapping-wing microrobot

This paper introduces a methodology for designing real-time controllers capable of enforcing desired trajectories on microrobotic insects in vertical flight and hovering. The main idea considered in this work is that altitude control can be translated into a problem of lift force control. Through an...

Full description

Saved in:
Bibliographic Details
Published inProceedings of the 2011 American Control Conference pp. 4761 - 4768
Main Authors Perez-Arancibia, Nestor O., Whitney, John P., Wood, Robert J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2011
Subjects
Actuators
Adaptation models
Displacement measurement
Force
Harmonic analysis
Laser beams
Measurement by laser beam
Online AccessGet full text

Cover

More Information
Summary:This paper introduces a methodology for designing real-time controllers capable of enforcing desired trajectories on microrobotic insects in vertical flight and hovering. The main idea considered in this work is that altitude control can be translated into a problem of lift force control. Through analyses and experiments, we describe the proposed control strategy, which is fundamentally adaptive with some elements of model-based control. In order to test and explain the method for controller synthesis and tuning, a static single-wing flapping mechanism is employed in the collection of experimental data. The empirical results validate the suitability of the chosen approach.
ISBN:1457700808
9781457700804
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2011.5991157