Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel

Torbjörn Cunis; Matej Karasek; Guido de Croon

Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel

Torbjörn Cunis, Matej Karasek, Guido de Croon

Control & Simulation

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific

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Abstract

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.

Original language	English
Title of host publication	Proceedings of the International Micro Air Vehicles Conference and Competition 2016
Subtitle of host publication	Beijing, China
Publisher	IEEE
Number of pages	8
Publication status	Published - 2016
Event	International Micro Air Vechicle Competition and Conference 2016 - Beijing, China Duration: 17 Oct 2016 → 21 Oct 2016 http://www.imavs.org/2016/

Conference

Conference	International Micro Air Vechicle Competition and Conference 2016
Abbreviated title	IMAV2016
Country/Territory	China
City	Beijing
Period	17/10/16 → 21/10/16
Internet address	http://www.imavs.org/2016/

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cunisKarasekDeCroon_imav2016Accepted author manuscript, 6.81 MB

Cite this

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title = "Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel",

abstract = "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. ",

author = "Torbj{\"o}rn Cunis and Matej Karasek and \{de Croon\}, Guido",

year = "2016",

language = "English",

booktitle = "Proceedings of the International Micro Air Vehicles Conference and Competition 2016",

publisher = "IEEE",

address = "United States",

note = "International Micro Air Vechicle Competition and Conference 2016, IMAV2016 ; Conference date: 17-10-2016 Through 21-10-2016",

url = "http://www.imavs.org/2016/",

}

Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel. / Cunis, Torbjörn; Karasek, Matej ; de Croon, Guido.
Proceedings of the International Micro Air Vehicles Conference and Competition 2016: Beijing, China. IEEE, 2016.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific

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T1 - Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel

AU - Cunis, Torbjörn

AU - Karasek, Matej

AU - de Croon, Guido

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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.

UR - http://resolver.tudelft.nl/uuid:a4359248-dd84-471b-bd36-877b06fd137f

M3 - Conference contribution

BT - Proceedings of the International Micro Air Vehicles Conference and Competition 2016

PB - IEEE

T2 - International Micro Air Vechicle Competition and Conference 2016

Y2 - 17 October 2016 through 21 October 2016

ER -

Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel

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