Attitude Control and Simulation for a Bat Flapping Flight Based on ESO
An attitude control method based on ESO(Extended State Observer)is proposed for the bat-like flapping wing air-craft to solve the problem that the flapping-wing flight is susceptible to interference with unstable longitudinal aerodynamic char-acteristics.Firstly,the dynamics model of the bat-like flapping wing aircraft was established.Then we analyzed the longitudinal stability on the basis.The uncertain part of this system and various unknown external disturbance are considered as the lumped disturbance of the system,which is observed and tracked by the ESO module in real time,then the control method adds distur-bance compensation part to the original PID controller.The numerical simulation results show that the control method based on ESO is significantly better than that based on PID for the bat-like flapping-wing aircraft,where the transient time of step re-sponse is accelerated by 41.27%,and the range of fluctuation is increased from 6.02%to 2.82%under white noise interference,and from11.56%to3.22%under sinusoidal interference.
Flapping-WingAttitude ControlESO(Extended State Observer)
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