Hybrid adaptive control of a dragonfly model

Couceiro, Micael S.; Ferreira, Nuno M. F.; Machado, J. A. Tenreiro

http://hdl.handle.net/10400.22/3781

Use this identifier to reference this record.

Name:	Description:	Size:	Format:
ART_TenreiroMachado_2012_DEE.pdf		928.82 KB	Adobe PDF	Download

Send Feedback

Authors

Couceiro, Micael S.

Ferreira, Nuno M. F.

Machado, J. A. Tenreiro

Abstract(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.