Simulation of flight control of a hummingbird like robot near hover

Abstract

A hummingbird robot with a pair of flapping wings and a 12cm wingspan is analysed. The analysis is based on quasi-steady aerodynamics. Constructed is a control derivatives matrix that estimates the effect of each wing kinematics parameter on the cycle averaged wing forces and forms the key stone of the flight controller. Implemented is the controller in a simulation model with rigid body dynamics and "continuous" (i.e. not averaged) aerodynamics. The simulation results show that the controller stabilizes the robot attitude and controls the flight in 4 DOFs (translation in any direction + yaw rotation) by modifying only two wing kinematic parameters per wing - the flapping amplitude and the mean wing position. Other control parameters are possible. Thus, various mechanical design solutions can be studied in the future. © 2013 Institute of Thermomechanics AS CR.