PMID- 37574420
OWN - NLM
STAT- PubMed-not-MEDLINE
LR  - 20231112
IS  - 1879-2022 (Electronic)
IS  - 0019-0578 (Linking)
VI  - 142
DP  - 2023 Nov
TI  - Closed-loop nonlinear optimal control design for flapping-wing flying robot 
      (1.6 m wingspan) in indoor confined space: Prototyping, modeling, simulation, and 
      experiment.
PG  - 635-652
LID - S0019-0578(23)00353-1 [pii]
LID - 10.1016/j.isatra.2023.08.001 [doi]
AB  - The flapping-wing technology has emerged recently in the application of unmanned 
      aerial robotics for autonomous flight, control, inspection, monitoring, and 
      manipulation. Despite the advances in applications and outdoor manual flights 
      (open-loop control), closed-loop control is yet to be investigated. This work 
      presents a nonlinear optimal closed-loop control design via the state-dependent 
      Riccati equation (SDRE) for a flapping-wing flying robot (FWFR). Considering that 
      the dynamic modeling of the flapping-wing robot is complex, a proper model for 
      the implementation of nonlinear control methods is demanded. This work proposes 
      an alternative approach to deliver an equivalent dynamic for the translation of 
      the system and a simplified model for orientation, to find equivalent dynamics 
      for the whole system. The objective is to see the effect of flapping (periodic 
      oscillation) on behavior through a simple model in simulation. Then the SDRE 
      controller is applied to the derived model and implemented in simulations and 
      experiments. The robot bird is a 1.6 m wingspan flapping-wing system 
      (six-degree-of-freedom robot) with four actuators, three in the tail, and one as 
      the flapping input. The underactuated system has been controlled successfully in 
      position and orientation. The control loop is closed by the motion capture system 
      in the indoor test bed where the experiments of flight have been successfully 
      done.
CI  - Copyright (c) 2023 The Author(s). Published by Elsevier Ltd.. All rights reserved.
FAU - Nekoo, Saeed Rafee
AU  - Nekoo SR
AD  - The GRVC Robotics Lab., Departamento de Ingenieria de Sistemas y Automatica, 
      Escuela Tecnica Superior de Ingenieria, Universidad de Sevilla, Seville, 41092, 
      Spain. Electronic address: saerafee@yahoo.com.
FAU - Ollero, Anibal
AU  - Ollero A
AD  - The GRVC Robotics Lab., Departamento de Ingenieria de Sistemas y Automatica, 
      Escuela Tecnica Superior de Ingenieria, Universidad de Sevilla, Seville, 41092, 
      Spain; FADA-CATEC, Centro Avanzado de Tecnologias Aeroespaciales, Seville, 41300, 
      Spain. Electronic address: aollero@us.es.
LA  - eng
PT  - Journal Article
DEP - 20230805
PL  - United States
TA  - ISA Trans
JT  - ISA transactions
JID - 0374750
SB  - IM
OTO - NOTNLM
OT  - Aerial robotics
OT  - Closed-loop control
OT  - Flapping-wing robot
OT  - Flight control
OT  - Nonlinear
OT  - Optimal
OT  - SDRE
COIS- Declaration of competing interest The authors declare that there is no conflict 
      of interest for this paper.
EDAT- 2023/08/14 00:42
MHDA- 2023/08/14 00:43
CRDT- 2023/08/13 22:01
PHST- 2023/04/20 00:00 [received]
PHST- 2023/08/01 00:00 [revised]
PHST- 2023/08/02 00:00 [accepted]
PHST- 2023/08/14 00:43 [medline]
PHST- 2023/08/14 00:42 [pubmed]
PHST- 2023/08/13 22:01 [entrez]
AID - S0019-0578(23)00353-1 [pii]
AID - 10.1016/j.isatra.2023.08.001 [doi]
PST - ppublish
SO  - ISA Trans. 2023 Nov;142:635-652. doi: 10.1016/j.isatra.2023.08.001. Epub 2023 Aug 
      5.