Attitude control of flapping wing aircraft based on energy optimization and ESO

作     者：Luo Li Hongwei Wang Long Cui 

作者机构：State Key Laboratory of RoboticsShenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyang 110016China University of Chinese Academy of SciencesBeijing 100049China 

出 版 物：《Biomimetic Intelligence & Robotics》 (仿生智能与机器人（英文）)

年 卷 期：2021年第1卷第1期

页      面：36-41页

核心收录：

学科分类：0401[教育学-教育学] 04[教育学] 

主　　题：Flapping wing Energy optimal control ESO(Extended State Observer) 

摘      要：Aiming at the problem of insufficient endurance performance of flapping wing aircraft,a stable attitude control algorithm based on energy optimization and ESO(extended state observer)is designed,which effectively reduces the energy consumption in cruise ***,the longitudinal dynamic model of flapping wing aircraft is established,and then the uncertain part of the system and various unknown external disturbances are taken as the total *** module is introduced to observe and track the total disturbance in real ***,the system is transformed into a series integral system through the total disturbance feedback,and then the energy optimal control law is designed on the base of the transformed *** numerical simulation results show that,compared with the traditional PID control method,the designed energy optimal control method reduces the average energy consumption by 35.28%.