Flapping-wing MAVs represent an attractive alternative to conventional designs with rotary wings, since they promise a much higher efficiency in forward flight. However, further insight into the flapping-wing aerodynamics is still needed to get closer to the flight performance observed in natural fliers. Here we present the first step necessary to perform a flow visualization study of the air around the flapping wings of a DelFly II MAV in-flight: a precision position control of flight in a wind-tunnel. We propose a hierarchical control scheme implemented in the open-source Paparazzi UAV autopilot software. Using a decoupling, combined feed-forward and feed-back control approach as a core, we were able to achieve a precision of 2:5 cm for several seconds, which is much beyond the requirements for a time resolved stereo PIV technique.
|Title of host publication||Proceedings of the International Micro Air Vehicles Conference and Competition 2016|
|Subtitle of host publication||Beijing, China|
|Publication status||Published - 2016|
|Event||International Micro Air Vechicle Competition and Conference 2016 - Beijing, China|
Duration: 17 Oct 2016 → 21 Oct 2016
|Conference||International Micro Air Vechicle Competition and Conference 2016|
|Period||17/10/16 → 21/10/16|