Learning-based Path Tracking Control of a Flapping-wing Micro Air Vehicle

Jonggu Lee; Seungwan Ryu; Taewan Kim; Wonchul Kim; H. Jin Kim

IROS 2018poster15 citations

Learning-based Path Tracking Control of a Flapping-wing Micro Air Vehicle

Jonggu Lee, Seungwan Ryu, Taewan Kim, Wonchul Kim, H. Jin Kim

Abstract

Flapping-wing micro air vehicles (FWMAVs) become promising research platforms due to their advantages such as various maneuverability, and concealment. However, unsteady flow at low Reynolds number around the wings makes their dynamics time-varying and highly non-linear. It makes autonomous flight of FWMAV as a big challenge. In this paper, we suggest a model-based control strategy for FWMAV using learning architecture. For this task, we construct a ground station for logging flight data and control inputs, and train dynamics with a neural network. Then, we apply model predictive control (MPC) to the trained model. We validate our method by hardware experiments.

BibTeX

@inproceedings{iros2018_learningbasedpat,
  title = {Learning-based Path Tracking Control of a Flapping-wing Micro Air Vehicle},
  author = {Jonggu Lee and Seungwan Ryu and Taewan Kim and Wonchul Kim and H. Jin Kim},
  booktitle = {IROS 2018},
  year = {2018}
}