Modeling and control of a flapping wing hawkmoth micro air vehicle using generalized mixed sensitivity hierarchical design approach

Pragyan A. Pradhan, Karan Puttannaiah, Kaustav Mondal, Armando Rodriguez, Shiba Biswal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we address modeling and control-relevant analysis of a Hawkmoth Flapping Wing Micro Air Vehicle (MAV), and present a control framework to systematically address critical tradeoffs associated with it. Nonlinear model of longitudinal dynamics of the MAV is considered, both in hover as well as in forward flight conditions. Averaging theory is used to convert the nonlinear time-varying, but periodic, model into a nonlinear time-invariant one. The averaged model is then linearized at different flight conditions. The linearized models are then studied, to address critical relevant questions. A novel H-infinity control methodology based on convex optimization is presented that can handle wide range of control specifications that can be conflicting (e.g., frequency-and time-domain closed loop properties at plant output and plant input). We show how critical closed loop multivariable properties can be shaped directly, based on specifications, using Generalized Mixed Sensitivity (GMS) Hierarchical control framework. Popular classically motivated controllers are designed and compared to illustrate the utility of GMS.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2019 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105784
DOIs
StatePublished - Jan 1 2019
EventAIAA Scitech Forum, 2019 - San Diego, United States
Duration: Jan 7 2019Jan 11 2019

Publication series

NameAIAA Scitech 2019 Forum

Conference

ConferenceAIAA Scitech Forum, 2019
CountryUnited States
CitySan Diego
Period1/7/191/11/19

Fingerprint

Micro air vehicle (MAV)
Specifications
Convex optimization
Controllers

ASJC Scopus subject areas

  • Aerospace Engineering

Cite this

Pradhan, P. A., Puttannaiah, K., Mondal, K., Rodriguez, A., & Biswal, S. (2019). Modeling and control of a flapping wing hawkmoth micro air vehicle using generalized mixed sensitivity hierarchical design approach. In AIAA Scitech 2019 Forum (AIAA Scitech 2019 Forum). American Institute of Aeronautics and Astronautics Inc, AIAA. https://doi.org/10.2514/6.2019-1418

Modeling and control of a flapping wing hawkmoth micro air vehicle using generalized mixed sensitivity hierarchical design approach. / Pradhan, Pragyan A.; Puttannaiah, Karan; Mondal, Kaustav; Rodriguez, Armando; Biswal, Shiba.

AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, 2019. (AIAA Scitech 2019 Forum).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Pradhan, PA, Puttannaiah, K, Mondal, K, Rodriguez, A & Biswal, S 2019, Modeling and control of a flapping wing hawkmoth micro air vehicle using generalized mixed sensitivity hierarchical design approach. in AIAA Scitech 2019 Forum. AIAA Scitech 2019 Forum, American Institute of Aeronautics and Astronautics Inc, AIAA, AIAA Scitech Forum, 2019, San Diego, United States, 1/7/19. https://doi.org/10.2514/6.2019-1418
Pradhan PA, Puttannaiah K, Mondal K, Rodriguez A, Biswal S. Modeling and control of a flapping wing hawkmoth micro air vehicle using generalized mixed sensitivity hierarchical design approach. In AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA. 2019. (AIAA Scitech 2019 Forum). https://doi.org/10.2514/6.2019-1418
Pradhan, Pragyan A. ; Puttannaiah, Karan ; Mondal, Kaustav ; Rodriguez, Armando ; Biswal, Shiba. / Modeling and control of a flapping wing hawkmoth micro air vehicle using generalized mixed sensitivity hierarchical design approach. AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, 2019. (AIAA Scitech 2019 Forum).
@inproceedings{81e49bff6dd54ce981a04f0e73fb3e18,
title = "Modeling and control of a flapping wing hawkmoth micro air vehicle using generalized mixed sensitivity hierarchical design approach",
abstract = "In this paper, we address modeling and control-relevant analysis of a Hawkmoth Flapping Wing Micro Air Vehicle (MAV), and present a control framework to systematically address critical tradeoffs associated with it. Nonlinear model of longitudinal dynamics of the MAV is considered, both in hover as well as in forward flight conditions. Averaging theory is used to convert the nonlinear time-varying, but periodic, model into a nonlinear time-invariant one. The averaged model is then linearized at different flight conditions. The linearized models are then studied, to address critical relevant questions. A novel H-infinity control methodology based on convex optimization is presented that can handle wide range of control specifications that can be conflicting (e.g., frequency-and time-domain closed loop properties at plant output and plant input). We show how critical closed loop multivariable properties can be shaped directly, based on specifications, using Generalized Mixed Sensitivity (GMS) Hierarchical control framework. Popular classically motivated controllers are designed and compared to illustrate the utility of GMS.",
author = "Pradhan, {Pragyan A.} and Karan Puttannaiah and Kaustav Mondal and Armando Rodriguez and Shiba Biswal",
year = "2019",
month = "1",
day = "1",
doi = "10.2514/6.2019-1418",
language = "English (US)",
isbn = "9781624105784",
series = "AIAA Scitech 2019 Forum",
publisher = "American Institute of Aeronautics and Astronautics Inc, AIAA",
booktitle = "AIAA Scitech 2019 Forum",

}

TY - GEN

T1 - Modeling and control of a flapping wing hawkmoth micro air vehicle using generalized mixed sensitivity hierarchical design approach

AU - Pradhan, Pragyan A.

AU - Puttannaiah, Karan

AU - Mondal, Kaustav

AU - Rodriguez, Armando

AU - Biswal, Shiba

PY - 2019/1/1

Y1 - 2019/1/1

N2 - In this paper, we address modeling and control-relevant analysis of a Hawkmoth Flapping Wing Micro Air Vehicle (MAV), and present a control framework to systematically address critical tradeoffs associated with it. Nonlinear model of longitudinal dynamics of the MAV is considered, both in hover as well as in forward flight conditions. Averaging theory is used to convert the nonlinear time-varying, but periodic, model into a nonlinear time-invariant one. The averaged model is then linearized at different flight conditions. The linearized models are then studied, to address critical relevant questions. A novel H-infinity control methodology based on convex optimization is presented that can handle wide range of control specifications that can be conflicting (e.g., frequency-and time-domain closed loop properties at plant output and plant input). We show how critical closed loop multivariable properties can be shaped directly, based on specifications, using Generalized Mixed Sensitivity (GMS) Hierarchical control framework. Popular classically motivated controllers are designed and compared to illustrate the utility of GMS.

AB - In this paper, we address modeling and control-relevant analysis of a Hawkmoth Flapping Wing Micro Air Vehicle (MAV), and present a control framework to systematically address critical tradeoffs associated with it. Nonlinear model of longitudinal dynamics of the MAV is considered, both in hover as well as in forward flight conditions. Averaging theory is used to convert the nonlinear time-varying, but periodic, model into a nonlinear time-invariant one. The averaged model is then linearized at different flight conditions. The linearized models are then studied, to address critical relevant questions. A novel H-infinity control methodology based on convex optimization is presented that can handle wide range of control specifications that can be conflicting (e.g., frequency-and time-domain closed loop properties at plant output and plant input). We show how critical closed loop multivariable properties can be shaped directly, based on specifications, using Generalized Mixed Sensitivity (GMS) Hierarchical control framework. Popular classically motivated controllers are designed and compared to illustrate the utility of GMS.

UR - http://www.scopus.com/inward/record.url?scp=85068918817&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85068918817&partnerID=8YFLogxK

U2 - 10.2514/6.2019-1418

DO - 10.2514/6.2019-1418

M3 - Conference contribution

SN - 9781624105784

T3 - AIAA Scitech 2019 Forum

BT - AIAA Scitech 2019 Forum

PB - American Institute of Aeronautics and Astronautics Inc, AIAA

ER -