Altitude Control of Flapping-wing MAV

• Main Authors: Sen-Huang Lin, 林森煌
• Other Authors: 蕭富元
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/57130373356452879021

碩士 === 淡江大學 === 航空太空工程學系碩士班 === 98 === The trajectory control of flapping-wing microaerial vehicles (MAVs) is discussed in this paper. The Tamkang University (TKU) has been devoted to the development of flapping-wing robots for a long period, including design, fabrication and control. On the basis of the earlier knowledge on the Golden Snitch, a flapping-wing MAV in TKU, we develop a non- intrusive navigation methodology by using stereo vision, and stabilize the flight trajectory with a modified Pcontrol. Different from other mechanical or aerial systems, the selections in control signal are limited in this problem due to the restrictions in carry-on weight. Numerical simulations also provided to demonstrate the robustness of our control law, and flight test is used to examine this design. From the experiment results we have demonstrated the feasibility of our algorithm.