Iterative Learning Control for a Flapping Wing Micro Aerial Vehicle Under Distributed Disturbances

作者：He, Wei^*; Meng, Tingting; He, Xiuyu; Sun, Changyin

来源：IEEE Transactions on Cybernetics, 2019, 49(4): 1524-1535.

DOI：10.1109/TCYB.2018.2808321

• Distributed disturbance rejection
• flapping wing micro aerial vehicle (MAV)
• iterative learning control (ILC)
• trajectory tracking control
• vibration control

This paper addresses a flexible micro aerial vehicle (MAV) under spatiotemporally varying disturbances, which is composed of a rigid body and two flexible wings. Based on Hamilton's principle, a distributed parameter system coupling in bending and twisting, is modeled. Two iterative learning control (ILC) schemes are designed to suppress the vibrations in bending and twisting, reject the distributed disturbances and regulate the displacement of the rigid body to track a prescribed constant trajectory. At the basis of composite energy function, the boundedness and the learning convergence are proved for the closed-loop MAV system. Simulation results are provided to illustrate the effectiveness of the proposed ILC laws.

• 出版日期2019-4
• 单位北京科技大学; 中国科学院数学与系统科学研究院; 中国科学院大学; 东南大学