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Attitude Control of Flapping-Wing Micro Air Vehicles Based on Hyperbolic Tangent Function Sliding Mode Control

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14274))

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Abstract

The flying animals in nature mainly include insects, birds, and bats, which have formed flexible flight wings and control systems through natural evolution. Compared with fixed wing and rotor wing vehicle, flapping wing micro air vehicle (FMAV) have higher maneuverability during flight, but the implementation of different motion attitudes requires effective control of flight attitudes.

FMAV is a typical non-constant aerodynamic system, and it is difficult to establish an accurate analytical or semi-analytical mechanical model, which poses certain technical challenges to the systematic design of control laws. Sliding mode control (SMC) is a typical and special nonlinear control, which has good control effect and robustness for uncertain nonlinear systems such as unmanned aerial vehicle (UAV), spacecraft, FMAV, etc. and can solve various disturbances and model uncertainty brought by external complex environment. However, the traditional Sliding mode control has the problem of chattering, so the hyperbolic tangent function is introduced to replace the discontinuous switching function, Then, an attitude control of FMAV based on hyperbolic tangent function Sliding mode control is established to complete the target attitude tracking control.

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Acknowledgment

This work was supported in part by the Guangdong Provincial Key Laboratory of Construction Robotics and Intelligent Construction (2022KSYS013), in part by the CAS Science and Technology Service Network Plan (STS) - Dongguan Special Project (Grant No. 20211600200062), in part by the Science and Technology Cooperation Project of Chinese Academy of Sciences in Hubei Province Construction 2023.

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Authors and Affiliations

  1. Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China

    Xiao Liu, Weijun Wang, Wei Feng, Shijie Wang, Xincheng Wang & Yunxiao Cheng

  2. University of Chinese Academy of Sciences, Beijing, China

    Weijun Wang & Wei Feng

  3. International Joint Research Center for Robotics and Intelligent Construction, Guangdong, China

    Xiao Liu, Weijun Wang, Wei Feng, Shijie Wang & Yunxiao Cheng

  4. Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China

    Xiao Liu, Weijun Wang, Wei Feng, Shijie Wang & Xincheng Wang

Authors
  1. Xiao Liu
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  2. Weijun Wang
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  3. Wei Feng
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  4. Shijie Wang
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  5. Xincheng Wang
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  6. Yunxiao Cheng
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Corresponding author

Correspondence to Wei Feng .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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Liu, X., Wang, W., Feng, W., Wang, S., Wang, X., Cheng, Y. (2023). Attitude Control of Flapping-Wing Micro Air Vehicles Based on Hyperbolic Tangent Function Sliding Mode Control. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_33

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  • DOI: https://doi.org/10.1007/978-981-99-6501-4_33

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6500-7

  • Online ISBN: 978-981-99-6501-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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