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Indoor Flight Testing and Controller Design of Bioinspired Ornithopter

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Intelligent Autonomous Systems 12

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 193))

Abstract

Indoor flight testing of a bioinspired ornithopter is conducted in this study and the dominant flight state variables such as body pitch angle, forward flight speed, altitude, wings and tail motions of the freely flying ornithopter are simultaneously measured by using a three-dimensional visual tracking system. A control-oriented system model of the ornithopter in trimmed level flight is established based on the recorded inputs and outputs dataset and the system matrices are fitted in a least-squares sense. To reduce the amplitude of the ornithopter body oscillations, the identified linear time-invariant system model is formulated to a disturbance-rejection problem and an optimal controller minimizing the quadratic performance index is designed. The continuous wing motion defined as the known disturbance deteriorates the pitch balance with respect to the center of gravity; however, the designed feedforward and feedback controller periodically activates the ornithopter tail and successfully reduces the magnitudes of the body oscillations.

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Authors and Affiliations

  1. Dept. of Aerospace Engineering, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 305-701, Korea

    Jun-Seong Lee & Jae-Hung Han

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  1. Jun-Seong Lee
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  2. Jae-Hung Han
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Correspondence to Jun-Seong Lee .

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Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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Lee, JS., Han, JH. (2013). Indoor Flight Testing and Controller Design of Bioinspired Ornithopter. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33926-4_79

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  • DOI: https://doi.org/10.1007/978-3-642-33926-4_79

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33925-7

  • Online ISBN: 978-3-642-33926-4

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