11:00 a.m.-12:00 p.m.
1146 A.V. Williams Building
For More Information:
301 405 4419
Control Challenges of Realizing a Soft-Winged Aerial Robot that Can Fly like a Bat
Assistant professor, Department of Aerospace Engineering
Coordinated Science Laboratory
University of Illinois at Urbana-Champaign
Rapid proliferation of reliable quadrotor platforms has resulted in a boom in robotic flight research, including many demonstrations of agile maneuvers in complex environments. However, quadrotors have issues of safety, high noise levels, and low efficiency for forward flight. Furthermore, quadrotors cannot fly in strong wind without unacceptable modifications to the rotor size and speed. This talk gives an overview of technical challenges in developing a mature flapping aerial robot platform from the dynamics and controls standpoint. We study the stability of coupled nonlinear oscillators by using contraction analysis, a relatively new nonlinear stability tool, to prove that flapping-flying dynamics without traditional aerodynamic control surfaces can be effectively controlled by a reduced set of central pattern generator (CPG) parameters that generate complex 3D oscillatory motions of two main wings. This talk also presents a PDE boundary control formulation of controlling flexible wings described by PDEs and whose output is given by a spatial integral of weighted functions of the state. We prove that the closed loop system is L2-stable using Lyapunov theory and PDE backstepping. For wing bending, we present a novel control scheme based on a two-stage perturbation observer. A trajectory planning-based feed-forward tracker is designed using only one component of the observer whose dynamics are homogeneous and amenable to trajectory planning. The two components, put together, estimate the external forces and unmodeled system dynamics.
Soon-Jo Chung is an assistant professor in the Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign. His research is funded by ARO, AFOSR, NASA, JPL, JDTIC, and ONR, in the areas of aerial robotics, flight controls of MAV/UAVs, spacecraft controls and spacecraft swarms, and vision-based navigation. His honors include the first place prize in the AIAA national undergraduate team space design competition (as faculty advisor), AFOSR Young Investigator Award, NASA JPL Summer Faculty Fellow (twice), and two best paper awards from IEEE and AIAA.
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