Modelling and control of a symmetric flapping wing vehicle: an optimal control approach

摘要

This thesis presents a method for designing a flapping wing stroke for a flappingwing vehicle. A flapping wing vehicle is a vehicle such as a bird or an insect thatuses its wings for propulsion instead of a conventional propeller or a jet engine. Theintent of this research is to design a wing stroke that the wings can follow which willmaintain the vehicle at a desired longitudinal flight path angle and velocity. Thecost function is primarily a function of the flight path angle error, velocity errorand control rate. The objective maneuver is to achieve a flight condition similar tothe trim of a conventional fixed wing aircraft. Gliding configurations of the vehicleare analyzed to better understand flight in minimal energy configurations as well asthe modes of the vehicle. A control law is also designed using Lyapunov?s directmethod that achieves stable tracking of the wing stroke. Results are presented thatdemonstrate the ability of the method to design wing strokes that can maintain thevehicle at various flight path angles and velocities. The results of this research showthat an optimal control problem can be posed such that the solution of the problemresults in a wing stroke that a flapping wing vehicle can use to achieve a desiredmaneuver. The vehicle velocity is shown to be stable in controlled gliding flight andflapping flight.