工程扑翼飞行的神经生物学启发控制
Neurobiologically Inspired Control of Engineered Flapping Flight
摘要：
本文提出了一种新的控制方法和动力学模型的工程扑翼飞行与多个相互作用的自由度。本文探讨了应用神经生物学启发控制系统的形式中央模式发生器（CPG）控制扑翼飞行动力学。基于非线性振子的相位同步，提出了一种设计复杂三维机翼运动的严格数学和控制理论框架。特别是，我们表明，没有尾巴或传统的气动控制面的扑翼飞行动力学可以有效地控制由一组减少的CPG参数，产生相位同步或破坏振荡运动的两个主翼。此外，通过使用霍普夫分岔，我们表明，无尾飞行器之间的扑翼和滑翔交替可以有效地稳定由CPG网络驱动的光滑机翼运动。全六自由度飞行动力学模型的数值模拟结果验证了所提出的神经生物学控制方法的有效性。
英文摘要：
This article presents a new control approach and a dynamic model for engineered flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically inspired control systems in the form of Central Pattern Generators (CPG) to control flapping flight dynamics. A rigorous mathematical and control theoretic framework to design complex three dimensional wing motions is presented based on phase synchronization of nonlinear oscillators. In particular, we show the flapping flying dynamics without a tail or traditional aerodynamic control surfaces can be effectively controlled by a reduced set of CPG parameters that generate phase-synchronized or symmetry-breaking oscillatory motions of two main wings. Furthermore, by using Hopf bifurcation, we show that tailless aircraft alternating between flapping and gliding can be effectively stabilized by smooth wing motions driven by the CPG network. Results of numerical simulation with a full six degree-of-freedom flight dynamic model validate the effectiveness of the proposed neurobiologically inspired control approach.
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