Flight Mechanics of Reversible Attachment Landing for Micro-Aerial Vehicles With Self-Decontaminating Surfaces

摘要

This work investigates the problem of landing on a vertical surface for flapping wing micro-aerial vehicles (MAV's) equipped with a self- decontaminating surface that allows attachment without a large force application. The analysis is based on time averaging theory which allows the wing motion and its resulting aerodynamic force to be characterized by parametric components of periodic functions. It is shown that a three-degree of freedom wing is required for the general maneuvering requirements of attachment landing. These kinematic variables are wing rotation, wing sweep, and variable frequency flapping speed. For the flight control problem, nonlinear methods of backstepping and dynamic inversion are shown to be well-suited for achieving the necessary tracking commands.