A Biologically-Inspired Micro Aerial Vehicle Sensing, Modeling and Control Strategies

摘要

This paper introduces a novel framework for the design, modeling and control of a Micro Aerial Vehicle (MAV). The vehicle’s conceptual design is based on biologically-inspired principles and emulates a dragonfly (Odonata–Anisoptera). We have taken inspiration from the flight mechanism features of the dragonfly and have developed indigenous designs in creating a novel version of a Flapping Wing MAV (FWMAV). The MAV design incorporates a complex mechanical construction and a sophisticated multi-layered, hybrid, linearon-linear controller to achieve extended flight times and improved agility compared to other rotary wing and FWMAV Vertical Take Off and Landing (VTOL) designs. The first MAV prototype will have a ballpark weight including sensor payload of around 30 g. The targeted lifting capability is about twice the weight. The MAV features state of the art sensing and instrumentation payload, which includes integrated high-power on-board processors, 6DoF inertial sensors, 3DoF compasses, GPS, embedded camera and long-range telemetry capability. A 3-layer control mechanism has been developed to harness the dynamics and attain complete navigational control of the MAV. The inner-layer is composed of a ‘quad hybrid-energy controller’ and two higher layers are at present, implementing a linear controller; the latter will be replaced eventually with a dynamic adaptive non-linear controller. The advantages of the proposed design compared to other similar ones include higher energy efficiency and extended flight endurance. The design features elastic storage and re-use of propulsion energy favoring energy conservation during flight. The design/modeling of the MAV and its kinematics & dynamics have been tested under simulation to achieve desired performance. The potential applications for such a high endurance vehicle are numerous, including air-deployable mass surveillance and reconnaissance in cluster and swarm formations. The efficacy of the design is demonstrated through a simulation environment. The dynamics are verified through simulations and a general linear controller coupled with an energy based non-linear controller is shown to operate the vehicle in a stable regime. In accordance with specified objectives a prototype is being developed for flight-testing and demonstration purposes.