Neural Dynamics Based Position And Attitude Control Of Flapping Wing Aerial Vehicle

The flapping wing aerial vehicle(FWAV)has become a major trend of aircraft development due to its remarkable advantages,such as high flight efficiency,low weight,low energy conservation,strong miniaturization ability,and so on,thus manifesting a broad application prospect in civil and military fields.Since the flight mechanism of FWAV is complex,addressing its position and attitude control problem is a prerequisite for extensively utilizing FWAV.In this paper,an FWAV simultaneous position tracking control problem and attitude tracking control problem is studied.First of all,the flight mechanism of FMAV is analyzed,and its dynamics model is studied through dynamics analysis.In order to better design the position and attitude controllers,the dynamics model is converted into a Lagrange form,which can be decomposed into two parts: position and attitude control.Secondly,a position tracking control of FWAV is investigated in this paper,and an adaptive controller is further proposed for the position tracking control,which is able to handle the singular state problem with zero theoretical error.Specifically,a neural dynamics(ND)position controller is proposed.Although the control efficiency of this controller is better than that of a proportional derivative(PD)position controller,the theoretical analysis reveals that both of them are limited in solving position tracking control problems.In other words,these controllers exist theoretical position tracking error.In order to remedy the weakness,an adaptive controller is proposed with zero theoretical tracking error,which uses a nonlinear activation function to accelerate the convergence speed.Besides,simulation results are provided to verify the efficiency and superiority of the proposed controller.Subsequently,an attitude tracking control of FWAV is explored in this paper,and a controller that can effectively address the disturbance issue in FWAV attitude tracking is further proposed,which is able to handle the singular state problem with zero theoretical error.Specifically,an ND attitude tracking controller is proposed in the initial stage.On this basis,an anti-disturbance ND attitude controller for FWAV attitude control is proposed with disturbance suppressed.The effectiveness of the controller is proved by theoretical analysis and numerical simulations.Lastly,an FWAV prototype is constructed.Firstly,the structure design scheme of FWAV is established,and the hardware construction scheme is determined accordingly so that the FWAV can realize the position and attitude control.Moreover,several flight test experiments are conducted.