摘要：AbstractTo realize safe mobile sensing in spaces around people, a flapping-wing robot with a weight of 1.15 g, wingspan of 115 mm, and three paired actuators is designed and fabricated in this study. The paired-wing actuators enable the suppression of wing–body and wing–wing coupling vibrations, as well as enhance the lift force. A model-based design of a stable flight controller was considered, where the lift force was assumed to work at an acting point on spatio-temporal average. Furthermore, an adaptive control law was employed for parameters that could not be measured. The effectiveness of the proposed controller was demonstrated through flight experiments.
关键词：KeywordsFlying robotFlapping wingFlight controlAdaptive control
