Flight dynamics and system identification for modern feedback control avian-inspired robots
Unmanned air vehicles are becoming increasingly popular alternatives for private applications which include, but are not limited to, fire fighting, search and rescue, atmospheric data collection, and crop surveys, to name a few. Among these vehicles are avian-inspired, flapping-wing designs, which a...
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| Formato: | Libro electrónico |
| Idioma: | Inglés |
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Cambridge :
Woodhead Publishing
2013.
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| Edición: | 1st edition |
| Colección: | Woodhead Publishing in mechanical engineering
Woodhead Publishing in mechanical engineering. |
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| Ver en Biblioteca Universitat Ramon Llull: | https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009628719806719 |
Tabla de Contenidos:
- Cover; Flight dynamics and system identification for modern feedback control: Avian-inspired robots; Copyright; Contents; List of figures; List of tables; Nomenclature; Preface; About the authors; 1 Introduction; 1.1 Background and motivation; 1.2 Bio-inspired flapping wing aircraft; 1.3 Flapping-wing literature review; 1.4 Scope and contributions of current research; 2 Ornithopter test platform characterizations; 2.1 Mathematical representation of an aircraft; 2.2 Ornithopter aircraft description; 2.3 Measurements from flight data; 2.4 Configuration-dependent mass distribution
- 2.5 Quasi-hover aerodynamics2.6 Implications for flight dynamics modeling; 2.7 Chapter summary; 3 Rigid multibody vehicle dynamics; 3.1 Model configuration; 3.2 Kinematic equations of motion; 3.3 Dynamic equations of motion; 3.4 Chapter summary; 4 System identification of aerodynamic models; 4.1 System identification method; 4.2 Tail aerodynamics; 4.3 Wing aerodynamics; 4.4 Chapter summary; 5 Simulation results; 5.1 Software simulation architecture; 5.2 Determining trim solutions; 5.3 Numerical linearization about straight and level mean flight; 5.4 Modeling implications for control
- 5.5 Chapter summary6 Concluding remarks; 6.1 Summary of work; 6.2 Summary of modeling assumptions; 6.3 Summary of original contributions; 6.4 Recommendations for future research; Appendix A: Field calibration of inertial measurement units; A.1 Theory and method; A.2 Results; Appendix B: Actuator dynamics system identification; B.1 Experimental setup; B.2 Results; B.3 Coupling to vehicle dynamics; Appendix C: Equations of motion for single-body flight vehicles; Appendix D: Linearization of a conventional aircraft model; References; Index
