Near-hover dynamics and attitude stabilization of an insect model

B. Cheng, X. Deng

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

13 Scopus citations

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
PublisherIEEE Computer Society
Pages39-44
Number of pages6
ISBN (Print)9781424474264
DOIs
StatePublished - 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • 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] (Proceedings of the 2010 American Control Conference, ACC 2010). IEEE Computer Society. https://doi.org/10.1109/acc.2010.5530672