Abstract
Flapping wing aerial vehicle (FAV) is an aircraft that imitate the flying of birds or insects. Comparing with fixing wing and rotary wing vehicles, FAV is hard to control precisely, because of its inherent vibration and complex dynamic analysis. Therefore, most FAV are controlled by human manipulators. In this paper, we mainly focus on studying the experience of human manipulators, using the experience to control our FAV, also known as HITHawk. We call this control strategy human-skill imitation. Human-skill imitation divides flying stages into three parts, which are takeoff, landing, and cruise. Each stage has its own control logic to fly HITHawk in better performance and safer situation. After that, we test each stage of HITHawk to fly in the air. The takeoff stage needs to climb to expect altitude as soon as possible. The cruise stage needs to fly in a set circle track. HITHawk knows how to keep in the trajectory and go back in case of flying away from the circle. Due to HITHawk’s characteristic, it cannot be controlled the pitch downward to prevent diving while landing. Therefore, the landing stage needs to control the throttle to float and descent until touching the ground.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Jackowski, Z.J.: Design and construction of an autonomous ornithopter. Massachusetts Institute of Technology (2009)
Mackenzie, D.: A flapping of wings. Science 335(6075), 1430–1433 (2012)
Karásek, M., Muijres, F.T., De Wagter, C., et al.: A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns. Science 361(6407), 1089–1094 (2018)
Keennon, M., Karl, K., Henry, W.: Development of the nano hummingbird: a tailless flapping wing micro air vehicle. In: 50th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition, p. 588 (2012)
Phan, H.V., Aurecianus, S., Kang, T., Park, H.C.: KUBeetle-S: an insect-like, tailless, hover-capable robot that can fly with a low-torque control mechanism. Int. J. Micro Air Vehicl. 11, 1–10 (2019)
Pan, E., et al.: Two experimental methods to test the aerodynamic performance of HITHawk. In: International Conference on Intelligent Robotics and Applications, pp. 386–398. Springer, Cham (2019). https://doi.org/10.1007/978-3-030-27535-8_35
Xu, W., et al.: Flight control of a large-scale flapping-wing flying robotic bird: system development and flight experiment. Chin. J. Aeronaut. 1–7 (2021)
Mi, G., Tian, Z., Jin, Y., Li, Z., Zhou, M.: MIMU update algorithm based on the posture and magnetometer. Chin. J. Sensors Actuat. 28(1), 43–48 (2015)
Wang, Y.: Research on autonomous formation flight control method of large bionic flapping-wing robot. Harbin Inst. Technol. 39–40 (2020)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this paper
Cite this paper
Li, Y., Liu, J., Xu, H., Xu, W. (2021). An Autonomous Flight Control Strategy Based on Human-Skill Imitation for Flapping-Wing Aerial Vehicle. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_4
Download citation
DOI: https://doi.org/10.1007/978-3-030-89092-6_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-89091-9
Online ISBN: 978-3-030-89092-6
eBook Packages: Computer ScienceComputer Science (R0)