Title
A Bio-inspired Sensing Approach to in-Gust Flight of Flapping Wing MAVs
Author
Wang, Chenyao (TU Delft Aerospace Engineering; TU Delft Control & Simulation)
Contributor
Hamaza, S. (mentor) 
de Croon, G.C.H.E. (mentor)
Wang, S. (graduation committee)
de Wagter, C. (graduation committee)
van Oudheusden, B.W. (graduation committee)
Degree granting institution
Delft University of Technology
Programme
Aerospace Engineering
Date
2022-09-27
Abstract
Flapping wing micro aerial vehicles (FWMAVs) are known for their flight agility and maneuverability. However, their in-gust flight performance and stability is still inferior to their biological counterparts. To this end, a simplified in-gust dynamic model, which could capture the main gust effects on FWMAVs, has been identified with real in-gust flights' data of a FWMAV, the Flapper Drone. Based on this model, an adaptive position and velocity controller was proposed with gain scheduling and implemented for in-gust flights under gust speeds up to 2.4 m/s. With this airflow-sensing based adaptive controller, the in-gust hovering stability of the Flapper Drone has been improved when the gust's intensity and frequency changes, comparing with the original fixed-gain cascaded PID controller case.
Subject
DelFly
Bio-inspired Aerial Robotics
Flapping Wing MAV
Modeling
Adaptive Control
In-gust Flights
Onboard Airflow Sensing
To reference this document use:
http://resolver.tudelft.nl/uuid:6215dd57-8d16-466b-a286-341538675d2d
Embargo date
2023-12-31
Part of collection
Student theses
Document type
master thesis
Rights
© 2022 Chenyao Wang