Research on ADRC for Flapping Wing Micro Air Vehicles

Yixiong Wang; Huichao Deng; Shengjie Xiao; Yuhong Sun; Zhifei Fang; Xilun Ding

doi:10.1109/ICRAE59816.2023.10458526

Research on ADRC for Flapping Wing Micro Air Vehicles

Yixiong Wang
, Huichao Deng^*
, Shengjie Xiao
, Yuhong Sun
, Zhifei Fang
, Xilun Ding

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The flapping wing micro air vehicle (FWMAV), with its advantages in maneuverability, safety, and energy efficiency, holds significant potential for various applications. However, the FWMAV faces challenges due to their strong coupling, nonlinearity, high dimensionality, and multiple delays. This study commences by examining the fundamental principles of the Active Disturbance Rejection Controller (ADRC), selecting a superior tracking differentiator controller and a PD-form nonlinear combination, and the two are combined with an extended state observer. We proceed to model and simulate the control system, investigating its response performance to step signals. Through careful debugging on the experimental platform, we identify appropriate control parameters. The results indicate that both the ADRC and the cascade PID demonstrate comparable control effectiveness for FWMAVs, while the ADRC exhibits smoother control performance and a higher convergence rate. Furthermore, flight tests are conducted to validate and showcase the exceptional performance of the ADRC in attitude control for FWMAVs.

Original language	English
Title of host publication	2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	248-252
Number of pages	5
ISBN (Electronic)	9798350327656
DOIs	https://doi.org/10.1109/ICRAE59816.2023.10458526
State	Published - 2023
Event	8th International Conference on Robotics and Automation Engineering, ICRAE 2023 - Singapore, Singapore Duration: 17 Nov 2023 → 19 Nov 2023

Publication series

Name	2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023

Conference

Conference	8th International Conference on Robotics and Automation Engineering, ICRAE 2023
Country/Territory	Singapore
City	Singapore
Period	17/11/23 → 19/11/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

ADRC
flapping wing
flight control
robot

Access to Document

10.1109/ICRAE59816.2023.10458526

Cite this

Wang, Y., Deng, H., Xiao, S., Sun, Y., Fang, Z., & Ding, X. (2023). Research on ADRC for Flapping Wing Micro Air Vehicles. In 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023 (pp. 248-252). (2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE59816.2023.10458526

@inproceedings{6aa770b7e8004743ae98bb9ac21ce617,

title = "Research on ADRC for Flapping Wing Micro Air Vehicles",

abstract = "The flapping wing micro air vehicle (FWMAV), with its advantages in maneuverability, safety, and energy efficiency, holds significant potential for various applications. However, the FWMAV faces challenges due to their strong coupling, nonlinearity, high dimensionality, and multiple delays. This study commences by examining the fundamental principles of the Active Disturbance Rejection Controller (ADRC), selecting a superior tracking differentiator controller and a PD-form nonlinear combination, and the two are combined with an extended state observer. We proceed to model and simulate the control system, investigating its response performance to step signals. Through careful debugging on the experimental platform, we identify appropriate control parameters. The results indicate that both the ADRC and the cascade PID demonstrate comparable control effectiveness for FWMAVs, while the ADRC exhibits smoother control performance and a higher convergence rate. Furthermore, flight tests are conducted to validate and showcase the exceptional performance of the ADRC in attitude control for FWMAVs.",

keywords = "ADRC, flapping wing, flight control, robot",

author = "Yixiong Wang and Huichao Deng and Shengjie Xiao and Yuhong Sun and Zhifei Fang and Xilun Ding",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 8th International Conference on Robotics and Automation Engineering, ICRAE 2023 ; Conference date: 17-11-2023 Through 19-11-2023",

year = "2023",

doi = "10.1109/ICRAE59816.2023.10458526",

language = "英语",

series = "2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "248--252",

booktitle = "2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023",

address = "美国",

}

Wang, Y, Deng, H, Xiao, S, Sun, Y, Fang, Z & Ding, X 2023, Research on ADRC for Flapping Wing Micro Air Vehicles. in 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023. 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023, Institute of Electrical and Electronics Engineers Inc., pp. 248-252, 8th International Conference on Robotics and Automation Engineering, ICRAE 2023, Singapore, Singapore, 17/11/23. https://doi.org/10.1109/ICRAE59816.2023.10458526

Research on ADRC for Flapping Wing Micro Air Vehicles. / Wang, Yixiong; Deng, Huichao; Xiao, Shengjie et al.
2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 248-252 (2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Research on ADRC for Flapping Wing Micro Air Vehicles

AU - Wang, Yixiong

AU - Deng, Huichao

AU - Xiao, Shengjie

AU - Sun, Yuhong

AU - Fang, Zhifei

AU - Ding, Xilun

PY - 2023

Y1 - 2023

N2 - The flapping wing micro air vehicle (FWMAV), with its advantages in maneuverability, safety, and energy efficiency, holds significant potential for various applications. However, the FWMAV faces challenges due to their strong coupling, nonlinearity, high dimensionality, and multiple delays. This study commences by examining the fundamental principles of the Active Disturbance Rejection Controller (ADRC), selecting a superior tracking differentiator controller and a PD-form nonlinear combination, and the two are combined with an extended state observer. We proceed to model and simulate the control system, investigating its response performance to step signals. Through careful debugging on the experimental platform, we identify appropriate control parameters. The results indicate that both the ADRC and the cascade PID demonstrate comparable control effectiveness for FWMAVs, while the ADRC exhibits smoother control performance and a higher convergence rate. Furthermore, flight tests are conducted to validate and showcase the exceptional performance of the ADRC in attitude control for FWMAVs.

AB - The flapping wing micro air vehicle (FWMAV), with its advantages in maneuverability, safety, and energy efficiency, holds significant potential for various applications. However, the FWMAV faces challenges due to their strong coupling, nonlinearity, high dimensionality, and multiple delays. This study commences by examining the fundamental principles of the Active Disturbance Rejection Controller (ADRC), selecting a superior tracking differentiator controller and a PD-form nonlinear combination, and the two are combined with an extended state observer. We proceed to model and simulate the control system, investigating its response performance to step signals. Through careful debugging on the experimental platform, we identify appropriate control parameters. The results indicate that both the ADRC and the cascade PID demonstrate comparable control effectiveness for FWMAVs, while the ADRC exhibits smoother control performance and a higher convergence rate. Furthermore, flight tests are conducted to validate and showcase the exceptional performance of the ADRC in attitude control for FWMAVs.

KW - ADRC

KW - flapping wing

KW - flight control

KW - robot

UR - https://www.scopus.com/pages/publications/85188508805

U2 - 10.1109/ICRAE59816.2023.10458526

DO - 10.1109/ICRAE59816.2023.10458526

M3 - 会议稿件

AN - SCOPUS:85188508805

T3 - 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023

SP - 248

EP - 252

BT - 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 8th International Conference on Robotics and Automation Engineering, ICRAE 2023

Y2 - 17 November 2023 through 19 November 2023

ER -

Wang Y, Deng H, Xiao S, Sun Y, Fang Z, Ding X. Research on ADRC for Flapping Wing Micro Air Vehicles. In 2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 248-252. (2023 8th International Conference on Robotics and Automation Engineering, ICRAE 2023). doi: 10.1109/ICRAE59816.2023.10458526

Research on ADRC for Flapping Wing Micro Air Vehicles

Abstract

Publication series

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UN SDGs

Keywords

Access to Document

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