Near-hover dynamics and attitude stabilization of an insect model

Bo Cheng, X. Deng

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

    13 Citations (Scopus)

    Abstract

    In this paper, we present a mathematical model of near-hover attitude dynamics and control in flapping flight. Then we apply this model to fruit fly (Drosophila) as an example. The attitude dynamics are derived from the complete 6-DOF equations of motion. Stability derivatives are estimated based on quasi-steady aerodynamic models of Flapping counter-torques (FCTs). Control derivatives are derived in a similar manner. Results show that stable angular motions can be achieved using a simple proportional feedback control. A coupled yaw and roll rotation (similar to a banked turn) is indentified as the most stable mode of angular motion. Additionally, free response results suggest that the fruit fly is able to damp out an initial disturbance of angular velocity.

    Original languageEnglish (US)
    Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
    Pages39-44
    Number of pages6
    StatePublished - 2010
    Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
    Duration: Jun 30 2010Jul 2 2010

    Other

    Other2010 American Control Conference, ACC 2010
    CountryUnited States
    CityBaltimore, MD
    Period6/30/107/2/10

    Fingerprint

    Fruits
    Stabilization
    Derivatives
    Angular velocity
    Feedback control
    Equations of motion
    Aerodynamics
    Torque
    Mathematical models

    All Science Journal Classification (ASJC) codes

    • Control and Systems Engineering

    Cite this

    Cheng, B., & Deng, X. (2010). Near-hover dynamics and attitude stabilization of an insect model. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 39-44). [5530672]
    Cheng, Bo ; Deng, X. / Near-hover dynamics and attitude stabilization of an insect model. Proceedings of the 2010 American Control Conference, ACC 2010. 2010. pp. 39-44
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    title = "Near-hover dynamics and attitude stabilization of an insect model",
    abstract = "In this paper, we present a mathematical model of near-hover attitude dynamics and control in flapping flight. Then we apply this model to fruit fly (Drosophila) as an example. The attitude dynamics are derived from the complete 6-DOF equations of motion. Stability derivatives are estimated based on quasi-steady aerodynamic models of Flapping counter-torques (FCTs). Control derivatives are derived in a similar manner. Results show that stable angular motions can be achieved using a simple proportional feedback control. A coupled yaw and roll rotation (similar to a banked turn) is indentified as the most stable mode of angular motion. Additionally, free response results suggest that the fruit fly is able to damp out an initial disturbance of angular velocity.",
    author = "Bo Cheng and X. Deng",
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    Cheng, B & Deng, X 2010, Near-hover dynamics and attitude stabilization of an insect model. in Proceedings of the 2010 American Control Conference, ACC 2010., 5530672, pp. 39-44, 2010 American Control Conference, ACC 2010, Baltimore, MD, United States, 6/30/10.

    Near-hover dynamics and attitude stabilization of an insect model. / Cheng, Bo; Deng, X.

    Proceedings of the 2010 American Control Conference, ACC 2010. 2010. p. 39-44 5530672.

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

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    Cheng B, Deng X. Near-hover dynamics and attitude stabilization of an insect model. In Proceedings of the 2010 American Control Conference, ACC 2010. 2010. p. 39-44. 5530672