论文标题
无尾部变形飞行的Bang-Bang控制
Bang-Bang Control Of A Tail-less Morphing Wing Flight
论文作者
论文摘要
已知蝙蝠的动态变形翅膀是极高的，它们采用了惯性动力学和空气动力学操纵的组合来展示极其敏捷的动作。蝙蝠在很大程度上依靠其高度柔韧的机翼，并且能够动态变形翅膀以调节施加到翅膀上的空气动力学和惯性力，并进行急剧的堤岸转弯。在复制飞行动物的变形机翼飞行能力方面存在技术硬件和控制挑战。这项工作主要集中在稳定，无尾，变形的机翼飞行的建模和控制方面。提出了一种使用Bang-bang Control的经典控制方法，以稳定一个名为Aerobat的生物启发的变形机器人。基于马蹄形涡流脱落和Wagner功能的机器人环境相互作用得出以现实评估Bang-Bang Control的可行性，然后在实验中在机器人上实现了该机器人的可行性，以证明Aerobat的首次闭环稳定飞行。
Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely agile maneuvers. Bats heavily rely on their highly flexible wings and are capable of dynamically morphing their wings to adjust aerodynamic and inertial forces applied to their wing and perform sharp banking turns. There are technical hardware and control challenges in copying the morphing wing flight capabilities of flying animals. This work is majorly focused on the modeling and control aspects of stable, tail-less, morphing wing flight. A classical control approach using bang-bang control is proposed to stabilize a bio-inspired morphing wing robot called Aerobat. Robot-environment interactions based on horseshoe vortex shedding and Wagner functions is derived to realistically evaluate the feasibility of the bang-bang control, which is then implemented on the robot in experiments to demonstrate first-time closed-loop stable flights of Aerobat.
