Journal ArticleDOI
Dynamical Modeling and Boundary Vibration Control of a Rigid-Flexible Wing System
TLDR
In this article, a boundary control approach is used to control a two-link rigid-flexible wing, which is based on the principle of bionics to improve the mobility and the flexibility of aircraft.Abstract:
A boundary control approach is used to control a two-link rigid-flexible wing in this article. Its design is based on the principle of bionics to improve the mobility and the flexibility of aircraft. First, a series of partial differential equations (PDEs) and ordinary differential equations (ODEs) are derived through the Hamilton's principle. These PDEs and ODEs describe the governing equations and the boundary conditions of the system, respectively. Then, a control strategy is developed to achieve the objectives including restraining the vibrations in bending and twisting deflections of the flexible link of the wing and achieving the desired angular position of the wing. By using Lyapunov's direct method, the wing system is proven to be stable. The numerical simulations are carried out with the finite difference method to prove the effectiveness of designed boundary controllers.read more
Citations
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Journal ArticleDOI
Modeling and trajectory tracking control for flapping-wing micro aerial vehicles
TL;DR: This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles in the longitudinal plane and shows that the tracking errors are bounded and ultimately converge to a small neighborhood around the origin.
Journal ArticleDOI
Adaptive Neural-Network Boundary Control for a Flexible Manipulator With Input Constraints and Model Uncertainties
TL;DR: An adaptive neural-network boundary control scheme for a flexible manipulator subject to input constraints, model uncertainties, and external disturbances is developed and the control performance of the developed control technique is examined by a numerical example.
Journal ArticleDOI
Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search
TL;DR: This brief presented an optimization problem that combines the trajectory generation and control problem of a 5-link biped robot and employed Beetle Antennae Search (BAS) for the problem’s online-solution, an intelligent online optimization approach.
Journal ArticleDOI
Modified Line-of-Sight Guidance Law With Adaptive Neural Network Control of Underactuated Marine Vehicles With State and Input Constraints
TL;DR: Both simulation and experimental results confirm that the proposed modified LOS guidance law and adaptive NN controller guarantees asymptotic convergence to the desired path and maintains zero cross-track error despite environmental disturbances.
References
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Book
Boundary Control of PDEs: A Course on Backstepping Designs
TL;DR: In this paper, the authors present an introduction to backstepping, an elegant new approach to boundary control of partial differential equations (PDEs). Backstepping provides mathematical tools for converting complex and unstable PDE systems into elementary, stable, and physically intuitive target PDEs that are familiar to engineers and physicists.
Journal ArticleDOI
The First Takeoff of a Biologically Inspired At-Scale Robotic Insect
TL;DR: It is shown how novel manufacturing paradigms enable the creation of the mechanical and aeromechanical subsystems of a microrobotic device that is capable of Diptera-like wing trajectories, and the results are a uniquemicrorobot: a 60 mg robotic insect that can produce sufficient thrust to accelerate vertically.
Journal ArticleDOI
Flapping flight for biomimetic robotic insects: part I-system modeling
TL;DR: The system dynamic models which include several elements that are substantially different from those present in fixed or rotary wing MAVs, namely micromechanical flying insects (MFIs), are described.
Journal ArticleDOI
Adaptive Fault-Tolerant Control of Uncertain Nonlinear Large-Scale Systems With Unknown Dead Zone
TL;DR: The closed-loop stability of the adaptive control system is rigorously proved via Lyapunov analysis and the satisfactory tracking performance is achieved under the integrated effects of unknown dead zone, actuator fault, and unknown external disturbances.
Journal ArticleDOI
Adaptive Fuzzy Backstepping Tracking Control for Strict-Feedback Systems With Input Delay
TL;DR: A novel adaptive fuzzy tracking control scheme is developed to guarantee all variables of the closed-loop systems are semiglobally uniformly ultimately bounded, and the tracking error can be adjusted around the origin with a small neighborhood.