扑翼飞行器的模型辨识与控制

Model Identification and Control of Flapping Wing Air Vehicles

针对扑翼飞行器(FAV)的飞行控制,提出一种基于近似线性化的控制方法。此方法以平均理论(averaging theory)为理论基础,通过系统辨识,用一个辨识得到的线性时不变(LTI)模型近似扑翼飞行器的模型,并在辨识模型的基础上设计扑翼飞行器的控制器。此方法的有效性将通过检验对一个小型扑翼飞行器的辨识结果,以及设计的控制器的控制效果得到证明。

In allusion to the flight control of flapping wing air vehicle(FAV), a method of design the flight controller for FAV based on linear estimation is presented. Based on averaging theory, after approximates the flight dynamics with a linear time-invariant model developed through model identification, flight control is designed based on the identified model. After this method is used on a FAV. it is validated through check the ability of the identified model and the actual results of the controller.