无尾昆虫级机器人与扑翼：一种简单的结构和驱动用于偏航控制
Insect-Scale Tailless Robot with Flapping Wings: A Simple Structure and Drive for Yaw Control
AI总结：
本文提出一种无尾昆虫级扑翼机器人，通过四对倾斜扑翼实现偏航角控制，利用压电驱动器简化结构，并设计自适应控制器补偿升力偏差，实验证明其在未知偏移条件下的优越性。
摘要：
昆虫级微航空器，特别是轻质扑翼机器人，正日益重要，用于在空间受限环境中安全运动感知。然而，使用扑翼进行偏航控制比使用旋转翼更困难。本文制造了一种无尾昆虫级机器人，配备四对倾斜扑翼（重1.52克），以同时控制四个状态，包括偏航角。可控性格拉姆矩阵被推导出来，以量化所制造配置的可控性，并评估倾斜翼几何形状对其他控制轴的影响。该机器人受益于直接驱动压电执行器的简单性，无需传动，升力控制通过改变电压幅值实现。然而，升力力的对齐或建模误差可能导致偏移。因此，设计了自适应控制器以补偿此类偏移。数值实验证实，所提出的控制器在未知偏移条件下优于传统线性二次积分控制器。最后，在受控飞行实验中，通过结合倾斜翼布置和所提出的控制器，抑制了偏航漂移。
英文摘要：
Insect-scale micro-aerial vehicles, especially lightweight, flapping-wing robots, are becoming increasingly important for safe motion sensing in spatially constrained environments such as living spaces. However, yaw control using flapping wings is fundamentally more difficult than using rotating wings. In this study, an insect-scale, tailless robot with four paired tilted flapping wings (weighing 1.52 g) was fabricated to enable simultaneous control of four states, including yaw angle. The controllability Gramian was derived to quantify the controllability of the fabricated configuration and to evaluate the effects of the tilted-wing geometry on other control axes. This robot benefits from the simplicity of directly driven piezoelectric actuators without transmission, and lift control is achieved simply by changing the voltage amplitude. However, misalignment or modeling errors in lift force can cause offsets. Therefore, an adaptive controller was designed to compensate for such offsets. Numerical experiments confirm that the proposed controller outperforms a conventional linear quadratic integral controller under unknown offset conditions. Finally, in a tethered and controlled flight experiment, yaw drift was suppressed by combining the tilted-wing arrangement with the proposed controller.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
