6 accepted papers
In this paper, we aim to design a nonlinear controller to achieve altitude tracking and pitch stabilization for a class of underactuated nonlinear systems, namely, bird-scale flapping-wing vehicles (BFWVs) with a single actuator. The major challenge lies in the underactuated nonlinear system dynamic
There exist multiple types of flyers in the world that either achieve lift through leveraging aerodynamics by cleverly choosing the wing airfoils of an airplane, or by flapping their wings. As the flapping wing vehicles (FWVs) decrease in scale, lift is predominantly generated by flapping. However,
Fluidic soft actuators have been widely used for applications where compliance is desirable – such as in delicate robotic manipulation. As their operation is based on pressurization, fluidic actuators typically rely on bulky, rigid pumps, valves, and pressure regulators for control. This dependence
Many insects utilize both amplitude and frequency modulation of their wingstrokes to control flight, a combination with potential advantages for flapping-wing micro-aerial vehicle (FWMAV) flight control as we attempt to mimic the agility of small biological fliers. However, frequency-modulated contr
Flapping-wing micro-aerial vehicles (FWMAVs) provide unique control challenges both in control authority and in the complexity of modeling flapping-wing aeromechanics. We provide a control-critical, closed-form model for FWMAV flight, particularly tailored to augmenting yaw torque authority of the v
This letter introduces a new framework for modeling the optimal path planning problem of rectangular robots. Typically constraints for the safe, obstacle-avoiding path involve a set of inequalities expressed using logical OR operations, which makes the problem difficult to solve using existing optim