Development of c-means Clustering Based Adaptive Fuzzy Controller for A Flapping Wing Micro Air Vehicle

Advanced and accurate modelling of a Flapping Wing Micro Air Vehicle (FW MAV) and its control is one of the recent research topics related to the field of autonomous Unmanned Aerial Vehicles (UAVs). In this work, a four wing Natureinspired (NI) FW MAV is modeled and controlled inspiring by its advanced features like quick flight, vertical take-off and landing, hovering, and fast turn, and enhanced manoeuvrability when contrasted with comparable-sized fixed and rotary wing UAVs. The Fuzzy C-Means (FCM) clustering algorithm is utilized to demonstrate the NIFW MAV model, which has points of interest over first principle based modelling since it does not depend on the system dynamics, rather based on data and can incorporate various uncertainties like sensor error. The same clustering strategy is used to develop an adaptive fuzzy controller. The controller is then utilized to control the altitude of the NIFW MAV, that can adapt with environmental disturbances by tuning the antecedent and consequent parameters of the fuzzy system.Comment: this paper is currently under review in Journal of Artificial Intelligence and Soft Computing Researc

Robust Control of Flapping-Wing in Micro Aerial Vehicle to have a Smooth Flapping Motion

This paper in first sections, will give a brief overview of both the purpose and the challenges facing the actuator and structure of Micromechanical Flying Insects (MFIs) and, in the last sections, an appropriate controller will developed for flapping motion. A hierarchical architecture that divides the control unit into three main levels is introduced. This approach break a complex control problem into a multi-level set of smaller control schemes, each of which is responsible for a clearly defined task. Also, the controller at each level can be designed independently of those in other levels. A fourbar mechanism for the wing displacement amplification, and a new system for fourbar mechanism actuation (wing actuation) is developed. We will develop a flexible beam with piezoelectric actuators and sensor (called Smart Beam) that will used to excite the fourbar mechanism for flapping mode of flight. The Frequency Response Function (FRF) of the smart beam was obtained from a Finite Element (FE) model and experimental system identification. The corresponding transfer function was derived from the mu synthesis and several robust controllers were then designed to control the beam to reach a smooth flapping motion. Besides excitation of the fourbar mechanism, the Smart beam will be used to control of noise and disturbance in the structure of the wing system

CM Scale Flapping Wing Of Unmanned Aerial Vehicle At Very Low Reynolds Numbers Regime

This dissertation investigates the CM$-$SCALE Flapping Wing of Unmanned Aerial Vehicle (FWUAV) that can accommodate nacelles of the scale of current Unmanned Air vehicle (UAV) designs are complex systems and their utilization is still in its infancy. The improving design of unmanned aerial vehicle from previous teams by improving the wings and outer body of bird. So, to potentially improve wing design, a complaint joint mechanism is proposed in order to make wing flapping and provide lift and thrust needed to fly. Also, change the wing design from flat wing to airplane wing by using two different airfoils, NACA 0012 and s1223. For bird\u27s body change the internal body to ensure to contain all internal components and give more space for flapping wings. Concurrently a redesign of the outer shell by making it smoother and lighter will be commensurate with the updated design. In addition, development of an evaluation methodology for the capability of a flapping wing to replication design loads by using computational fluid dynamic CFD by using fluid structure interaction in 2D and 3D analysis. We will investigate the design and analysis of the flapping wing. Specifically, this includes: 1. Review of cm−Scale Unmanned Aerial Vehicle Model and design (a) Investigate flapping Mechanism. (b) Investigate gear mechanism 2. Analysis of flapping wings for MAV (a) Select Airfoils for flapping wing. (b) Analyze Flapping Wings. (c) Make recommendations for Tail design for MAV. (d) Make recommendations for the improved design of MAV body. 3. Development of Finite Element flapping wing Model. (a) 2D computational analysis for Airfoils. i. NACA0012 Airfoil. ii. s1223 Airfoil. (b) 3D computational analysis with different shape of wings. i. Relationship between critical parameters and performance. ii. Design Optimization. Which is new key to make flapping wing close to the nature or real flapping wing, a new wing design inspired from nature exactly from thrush and scaled to our design. Starting from gear design by choose proper gear system. Then redesign the wings to commensurate with new bird. Computational fluid analysis also will used to replicate the loads needed to fly. This is another important area in which the literature is not offering guidance. Addresses the lack of an overview paper in the literature that outlines the challenges of testing a full$-$scale flapping wing Unmanned aerial vehicle onto laminar flow test and suggests research direction to address these challenges. Although conceptual in nature, this contribution is expected to be significant given that it takes experience in the unmanned vehicle industry to determine what challenges matter and need to be addressed. The growth in testing full-scale unmanned air vehicle using a laminar flow test being recent limits the number of people who can offer the perspective needed to suggest a research roadmap

A Review of Biomimetic Air Vehicle Research: 1984-2014

Biomimetic air vehicles (BAV) are a class of unmanned aircraft that mimic the flapping wing kinematics of flying organisms (e.g. birds, bats, and insects). Research into BAV has rapidly expanded over the last 30 years. In this paper, we present a comprehensive bibliometric review of engineering and biology journal articles that were published on this subject between 1984 and 2014. These articles are organized into five topical categories: aerodynamics, guidance and control, mechanisms, structures and materials, and system design. All of the articles are compartmented into one of these categories based on their primary focus. Several aspects of these articles are examined: publication year, number of citations, journal, authoring organization and country, non-academic funding sources, and the flying organism focused upon for bio-mimicry. This review provides useful information on the state of the art of BAV research and insight on potential future directions. Our intention is that this will serve as a resource for those already engaged in BAV research and enable insight that promotes further research interest

A Study on the Control, Dynamics, and Hardware of Micro Aerial Biomimetic Flapping Wing Vehicles

Biological flight encapsulates 400 million years of evolutionary ingenuity and thus is the most efficient way to fly. If an engineering pursuit is not adhering to biomimetic inspiration, then it is probably not the most efficient design. An aircraft that is inspired by bird or other biological modes of flight is called an ornithopter and is the original design of the first airplanes. Flapping wings hold much engineering promise with the potential to produce lift and thrust simultaneously. In this research, modeling and simulation of a flapping wing vehicle is generated. The purpose of this research is to develop a control algorithm for a model describing flapping wing robotics. The modeling approach consists of initially considering the simplest possible model and subsequently building models of increasing complexity. This research finds that a proportional derivative feedback and feedforward controller applied to a nonlinear model is the most practical controller for a flapping system. Due to the complex aerodynamics of ornithopter flight, modeling and control are very difficult. Overall, this project aims to analyze and simulate different forms of biological flapping flight and robotic ornithopters, investigate different control methods, and also acquire understanding of the hardware of a flapping wing aerial vehicle