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 A.
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.
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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
T2 - AIAA Scitech Forum, 2019
Y2 - 7 January 2019 through 11 January 2019
ER -