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