Dynamical Model and Tracking Controller for a Novel Flapping Wing Drone Platform

This work focuses on the design and control of a novel type of Flapping-Wing Micro Aerial Vehicle (FWMAV). The drone, known as the X-Fly, is a new under-actuated robotic platform that also has an inner control loop to stabilize its roll angle thanks to an onboard IMU. Such assistance makes the X-Fly...

Full description

Saved in:
Bibliographic Details
Published inConference proceedings (International Conference on Unmanned Aircraft Systems. Online) pp. 91 - 98
Main Authors Escobar, Jossue Carino, Le-Guellec, Lina, Van Ruymbeke, Edwin, Marchand, Nicolas, Engels, Thomas, Ruffier, Franck
Format Conference Proceeding
LanguageEnglish
Published IEEE 14.05.2025
Subjects
Analytical models
Batteries
Drones
Mathematical models
Oscillators
Robots
Stability analysis
Trajectory
Trajectory tracking
Vehicle dynamics
Online AccessGet full text

Cover

More Information
Summary:This work focuses on the design and control of a novel type of Flapping-Wing Micro Aerial Vehicle (FWMAV). The drone, known as the X-Fly, is a new under-actuated robotic platform that also has an inner control loop to stabilize its roll angle thanks to an onboard IMU. Such assistance makes the X-Fly easier to pilot. The under-actuation and the flapping oscillations make the modelling and the control of the X-Fly a challenging task. A dynamical model is introduced that is able to take advantage of the stabilized roll dynamics to separate the platform into two almost independent sub-systems, one for the altitude and another for the position on the x-y plane. A trajectory tracking controller for the altitude and a circular trajectory are then proposed and tested in order to corroborate the validity of the presented model.
ISSN:2575-7296
DOI:10.1109/ICUAS65942.2025.11007922