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Hybrid adaptive control of a dragonfly model
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Orientador(es)
Resumo(s)
Dragonflies show unique and superior flight performances than most of other insect species
and birds. They are equipped with two pairs of independently controlled wings granting
an unmatchable flying performance and robustness.
In this paper, it is presented an adaptive scheme controlling a nonlinear model inspired
in a dragonfly-like robot. It is proposed a hybrid adaptive (HA) law for adjusting the parameters
analyzing the tracking error. At the current stage of the project it is considered essential
the development of computational simulation models based in the dynamics to test
whether strategies or algorithms of control, parts of the system (such as different wing
configurations, tail) as well as the complete system. The performance analysis proves the
superiority of the HA law over the direct adaptive (DA) method in terms of faster and
improved tracking and parameter convergence.
Descrição
Palavras-chave
Control Robot Fuzzy Dragonfly Adaptive Hybrid
Contexto Educativo
Citação
Editora
Elsevier