Download or read book Design of an Adaptive Flight Controller for a Bird like Flapping Wing Aircraft written by Balaji K. Chandrasekaran and published by . This book was released on 2017 with total page 117 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the present age of increased demand for unmanned aerial vehicles, flapping wing unmanned aerial vehicle applications have become of interest, primarily because of their ability to fly silently and at lower speeds. This work explores new territory through the development of an adaptive flight controller for a bird-like flapping wing aircraft, using modified strip theory to model the aircraft's aerodynamics and Newtonian equations of motion for the flight dynamics. The aircraft model is validated using existing data from the Slow Hawk Ornithopter. The goal of this thesis is to explore various adaptive flight control architectures, such as Model Reference Adaptive Control and Adaptive Neural Network Inverse Control, leading to an advanced controller to govern the longitudinal flight characteristics of the flapping wing aircraft. An acceptable model of slow hawk ornithopter was developed and modelled in the MATLAB/SIMULINK. The Model Reference Adaptive Controller with Adaptive Bias Corrector was successfully able to adapt to deficiencies in the system with a PI controller and improved the tracking performance compared to no adaptation. It was observed that in case of a B-Matrix failure the Adaptive controller was not able to reduce the error in oscillating magnitude to zero. The same observation was also made for system with a PD controller.

Download or read book Fixed and Flapping Wing Aerodynamics for Micro Air Vehicle Applications written by Thomas J. Mueller and published by AIAA. This book was released on 2001 with total page 614 pages. Available in PDF, EPUB and Kindle. Book excerpt: This title reports on the latest research in the area of aerodynamic efficency of various fixed-wing, flapping wing, and rotary wing concepts. It presents the progress made by over fifty active researchers in the field.

Download or read book The DelFly written by G.C.H.E. de Croon and published by Springer. This book was released on 2015-11-26 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the topics most relevant to autonomously flying flapping wing robots: flapping-wing design, aerodynamics, and artificial intelligence. Readers can explore these topics in the context of the "Delfly", a flapping wing robot designed at Delft University in The Netherlands. How are tiny fruit flies able to lift their weight, avoid obstacles and predators, and find food or shelter? The first step in emulating this is the creation of a micro flapping wing robot that flies by itself. The challenges are considerable: the design and aerodynamics of flapping wings are still active areas of scientific research, whilst artificial intelligence is subject to extreme limitations deriving from the few sensors and minimal processing onboard. This book conveys the essential insights that lie behind success such as the DelFly Micro and the DelFly Explorer. The DelFly Micro, with its 3.07 grams and 10 cm wing span, is still the smallest flapping wing MAV in the world carrying a camera, whilst the DelFly Explorer is the world's first flapping wing MAV that is able to fly completely autonomously in unknown environments. The DelFly project started in 2005 and ever since has served as inspiration, not only to many scientific flapping wing studies, but also the design of flapping wing toys. The combination of introductions to relevant fields, practical insights and scientific experiments from the DelFly project make this book a must-read for all flapping wing enthusiasts, be they students, researchers, or engineers.

Download or read book Design of Low Complexity Model Reference Adaptive Controllers written by National Aeronautics and Space Adm Nasa and published by Independently Published. This book was released on 2019-01-14 with total page 26 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flight research experiments have demonstrated that adaptive flight controls can be an effective technology for improving aircraft safety in the event of failures or damage. However, the nonlinear, timevarying nature of adaptive algorithms continues to challenge traditional methods for the verification and validation testing of safety-critical flight control systems. Increasingly complex adaptive control theories and designs are emerging, but only make testing challenges more difficult. A potential first step toward the acceptance of adaptive flight controllers by aircraft manufacturers, operators, and certification authorities is a very simple design that operates as an augmentation to a non-adaptive baseline controller. Three such controllers were developed as part of a National Aeronautics and Space Administration flight research experiment to determine the appropriate level of complexity required to restore acceptable handling qualities to an aircraft that has suffered failures or damage. The controllers consist of the same basic design, but incorporate incrementally-increasing levels of complexity. Derivations of the controllers and their adaptive parameter update laws are presented along with details of the controllers implementations. Hanson, Curt and Schaefer, Jacob and Johnson, Marcus and Nguyen, Nhan Ames Research Center; Armstrong Flight Research Center NND08RR01B; WBS 284848.02.05.02.02

Download or read book Adaptive Compensation of Nonlinear Actuators for Flight Control Applications written by Dipankar Deb and published by Springer Nature. This book was released on 2021-07-22 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a basic understanding of adaptive control and its applications in Flight control. It discusses the designing of an adaptive feedback control system and analyzes this for flight control of linear and nonlinear aircraft models using synthetic jet actuators. It also discusses control methodologies and the application of control techniques which will help practicing flight control and active flow control researchers. It also covers modelling and control designs which will also benefit researchers from the background of fluid mechanics and health management of actuation systems. The unique feature of this book is characterization of synthetic jet actuator nonlinearities over a wide range of angles of attack, an adaptive compensation scheme for such nonlinearities, and a systematic framework for feedback control of aircraft dynamics with synthetic jet actuators.

Download or read book Digital Adaptive Flight Controller Development written by Howard Kaufman and published by . This book was released on 1974 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: A design study of adaptive control logic suitable for implementation in modern airborne digital flight computers was conducted. Two designs are described for an example aircraft. Each of these designs uses a weighted least squares procedure to identify parameters defining the dynamics of the aircraft. The two designs differ in the way in which control law parameters are determined. One uses the solution of an optimal linear regulator problem to determine these parameters while the other uses a procedure called single stage optimization. Extensive simulation results and analysis leading to the designs are presented.

Download or read book Adaptive Control Mechanisms in Fly Flight written by Wael Salem and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flying animals can maintain stable flight after sustaining significant wing damage and experiencing large fluctuations in weight. This robustness is achieved by modulating wing and body kinematics during flight. For instance, the effectiveness of these strategies can enable flies to sustain flight after losing half of one wing, or after gaining two times their own weight. In contrast, man-made drones and flying robots often struggle when dealing with uncertainties. Even small amounts of wing damage and change in weight can have a detrimental impact on the stability of drones during flight. Therefore, animal flight can serve as an inspiration to advance the state-of-the-art in flying robots. In this dissertation, I used an engineering framework to understand the underlying neuromechanical control strategies that enable flies to maintain stable flight in the presence of distinct perturbations. Specifically, I developed a high-speed imaging system and virtual reality arena to study how flies modulate wing kinematics to compensate for wing injury and changes in inertia. In Chapter 2, using a control theoretic framework, I investigate how flies respond to wing damage. Physical injury often impairs mobility, which can have dire consequences for survival in animals. Revealing mechanisms of robust biological intelligence to prevent system failure can provide critical insights into how complex brains generate adaptive movement and inspiration to design fault-tolerant robots. For flying animals, physical injury to a wing can have severe consequences, as flight is inherently unstable. Using a virtual reality flight arena, we studied how flying fruit flies compensate for damage to one wing. By combining experimental and mathematical methods, we show that flies compensate for wing damage by corrective wing movement modulated by closed-loop sensing and robust mechanics. Injured flies actively increase damping and, in doing so, modestly decrease gaze stabilization performance but fly as stably as uninjured flies. Quantifying responses to injury can uncover the flexibility and robustness of biological systems while informing the development of bio-inspired fault-tolerant strategies. In Chapter 3, by combining experimental and theoretical approaches, I investigate how added inertia influences flight control. Like injuries, changes in weight or inertia can also have a detrimental impact on locomotion. Animals experience significant fluctuations in weight throughout their lifetime due to growth, feeding, gravidity, etc. Changes in weight require compensatory strategies to maintain stable locomotion and avoid injury. These strategies are particularly crucial to animals that rely on flight for survival. To uncover the nature of these strategies, I developed a control theory framework whereby the yaw inertia of fruit flies was artificially increased. Flies with added inertia were placed inside a virtual reality arena which enabled free rotation about the vertical (yaw) axis. Adding inertia increased the fly's response time but did not alter gaze stabilization performance. Flies maintained stability following the addition of inertia by adaptively modulating both visuomotor gain and damping. In contrast, mathematical modeling predicted a significant decrease in flight stability and performance. Adding inertia also altered saccades dynamics. However, flies increased yaw production to compensate for the added inertia. This hints that flies may be able to sense the change in loading. Estimating flight aerodynamic forces revealed that changes in yaw damping are driven by mechanosensory feedback from the halteres. In short, flies sacrificed response time to maintain the gaze stabilization performance following changes in inertia. In Chapter 4, I use a custom virtual reality arena to study 3D wing kinematics in response to wing damage and added inertia. How flying animals modulate 3D wing kinematics to compensate for different perturbations in a closed-loop task remains poorly understood. To perform smooth rotational movement, damaged flies subtly modulated wing kinematics to generate a net yaw torque. Flies with damaged wings and added inertia exhibited a more noticeable change in wing kinematics. To compensate for damage, flies modulated the amplitudes of both wings. Furthermore, damaged flies also modulated the relative timing of the stroke's angles of both wings. On the other hand, flies with added inertia modulated the amplitude of the wing angles and distorted the waveform of the stroke angle to perform smooth movement. Estimating the net yaw torque using an aerodynamic model revealed no significant changes in torque production following wing damage and an increase in inertia. Finally, in Chapter 5, I developed a custom laser ablation paradigm to damage the wings of flies in flight. Previous studies have investigated how flying animals compensate for wing damage, however the process by which insects adapt wing kinematics in real-time after sudden damage is unknown. In this study, I built a laser system that damaged one wing of a fruit fly free to pivot about the yaw axis. The laser ablated 5--60 % of the overall area of one wing within a single stroke cycle (5--6 ms). Using a high-speed 3D imaging system, I measured how instantaneous wing damage influences yaw stability and compensatory wing kinematics right after damage. Flies exhibited novel wing kinematics almost instantly after wing damage, suggesting a role of passive mechanics. All flies rapidly rotated in the direction of the damaged wing following damage but quickly applied a counter torque which stabilized their heading within ~400 ms. Flies reached peaked peak velocity within ~40 ms, implicating mechanosensory feedback in stabilizing flight. Following wing damage, flies exhibited significant variability in wing kinematics as they adapted wing motion to stabilize gaze. Specifically, flies modulated the phase between the intact and damaged wing, with the damaged wing leading in each stroke cycle. Investigating the means by which insects adapt to wing damage can inspire the design of algorithms that enable adaptive flapping-wing robots that can learn to compensate for damage.

Download or read book An Introduction to Flapping Wing Aerodynamics written by Wei Shyy and published by Cambridge University Press. This book was released on 2013-08-19 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: For anyone interested in the aerodynamics, structural dynamics and flight dynamics of small birds, bats, insects and air vehicles (MAVs).

Download or read book Evolution and Analysis of Neuromorphic Flapping wing Flight Controllers written by Sanjay Kumar Boddhu and published by . This book was released on 2010 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt: The control of insect-sized flapping-wing micro air vehicles is attracting increasing interest. Solution of the problem requires construction of a controller that is physically small, extremely power efficient, and capable. In addition, process variation in the creation of very small wings and armatures as well as the potential for accumulating damage and wear over the course of a vehicle's lifetime suggest that controllers be able to self-adapt to the specific and possibly changing nature of the vehicles in which they are embedded. Previous work with Evolvable Hardware Continuous Time Recurrent Neural Networks (CTRNNs) as applied to adaptive control of walking in legged robots suggests that CTRNNs may provide a suitable control solution for flapping-wing micro air vehicles. However, upon complete analysis, it can be seen that perceived similarities between the two problems are somewhat superficial, and that flapping-wing vehicle control requires its own study. This dissertation constitutes the first attempt to apply evolved CTRNN devices to the control of a feasible flapping-wing micro air vehicle. It is organized as a sequence of control experiments of increasing difficulty and explores the following issues, development of behavior-based analog circuit modules, architectures to combine those modules into multi-functional controllers, low-level circuit analyses to explain how evolved modules operate and interact. Also included are experiments in the creation of physically polymorphic behavior modules that combine multiple flight functions into a monolithic analog device. In addition to providing first-of-its-kind feasibility results, this dissertation develops a new frequency-grouping based analysis method to explain the operation of evolved devices.

Download or read book Aircraft Flight Control System Design by Model Reference Adaptive Control written by Lung-Te Yang and published by . This book was released on 1995 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Flight Control Systems written by Roger Pratt and published by IET. This book was released on 2000 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt: Annotation Bridging the gap between academic research and real-world applications, this reference on modern flight control methods for fixed-wing aircraft deals with fundamentals of flight control systems design, then concentrates on applications based on the modern control methods used in the latest aircraft. The book is written for practicing engineers who are new to the aviation industry, postgraduate students in strategic or applied research, and advanced undergraduates. Some knowledge of classical control is assumed. Pratt is a member of IEEE and is UK Member for AIAA's Technical Committee on Guidance, Navigation and Control. Annotation c. Book News, Inc., Portland, OR (booknews.com)

Download or read book Fundamentals of Design of Piloted Aircraft Flight Control Systems Automatic flight control systems for piloted aircraft written by United States. Navy Department. Bureau of Aeronautics and published by . This book was released on 1952 with total page 724 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Nature s Flyers written by David E. Alexander and published by JHU Press. This book was released on 2004-11-17 with total page 390 pages. Available in PDF, EPUB and Kindle. Book excerpt: 'Nature's Flyers' is a detailed account of the current scientific understanding of the primary aspects of flight in nature. The author explains the physical basis of flight, drawing upon bats, birds, insects, pterosaurs and even winged seeds.

Download or read book Research in Digital Adaptive Flight Controllers written by Howard Kaufman and published by . This book was released on 1976 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book The Design of an Optimal Adaptive Lateral directional Flight Control System for a High performance Aircraft written by Vincent James Darcy and published by . This book was released on 1973 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Nonlinear Adaptive Flight Control with a Backstepping Design Approach written by Marc Steinberg and published by . This book was released on 1998 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper examines the use of adaptive backstepping for multi-axis control of a high performance aircraft. The control law is demonstrated on a 6 Degree-of-Freedom simulation with nonlinear aerodynamic and engine models, actuator models with saturation, and turbulence. Simulation results are demonstrated for large pitch-roll maneuvers, and for maneuvers with failure of the right stabilator. There are substantial differences between the control law design and simulation models, which are used to demonstrate some robustness aspects of this control law. Actuator saturation is shown to be a considerable problem for this type of controller. However, the flexibility of the backstepping design provides opportunities for improvement. In particular, the Lyapunov function is modified so that the growth of integrated error and the rate of change of parameter growth are both reduced when the surface commands are growing at a rate that will likely saturate the actuators. In addition, the deadzone technique from robust linear adaptive control is applied to improve robustness to turbulence.

Download or read book Application of Sliding Mode Methods to the Design of Reconfigurable Flight Control Systems written by Scott R. Wells and published by . This book was released on 2002 with total page 624 pages. Available in PDF, EPUB and Kindle. Book excerpt: Observer-based sliding mode control is investigated for application to aircraft reconfigurable flight control. An overview of reconfigurable flight control is given, including a review of the current state-of-the-art within the subdisciplines of fault detection parameter identification, adaptive control schemes, and dynamic control allocation. Of the adaptive control methods reviewed, sliding mode control (SMC) appears promising due its property of invariance to matched uncertainty. An overview of SMC is given and its properties are demonstrated. Sliding mode methods, however, are difficult to implement because unmodeled parasitic dynamics cause immediate and severe instability. This presents a challenge for all practical applications with limited bandwidth actuators. One method to deal with parasitic dynamics is the use of an asymptotic observer. Observer-based SMC is investigated, and a method for selecting observer gains is offered. An additional method for shaping the feedback loop using a filter is also developed. It is shown that this SMC prefilter is equivalent to a form of model reference hedging. A complete design procedure is given which takes advantage of the sliding mode boundary layer to recast the SMC as a linear control law. Frequency domain loop shaping is then used to design the sliding manifold. Finally, three aircraft applications are demonstrated. An F-18/HARV is used to demonstrate SISO and MIMO designs. The third application is a linear six degree-of-freedom advanced tailless fighter model. The observer-based SMC is seen to provide excellent tracking with superior robustness to parameter changes and actuator failures.