用共轭动量法精准估计仿生翼飞行中的外部干扰力。
Conjugate Momentum-Based Estimation of External Forces for Bio-Inspired Morphing Wing Flight
- 基于共轭动量设计观测器，实时估算复杂气动下的外力。
- 在高斯噪声与突变冲击下仍保持稳定，误差可控。
- 适合仿生飞行器、自主导航等需抗扰控制的场景。
动态变形翼飞行面临气动、快速翼动与外部扰动复杂耦合导致的外部力估计难题。传统方法难以应对风切变或未建模撞击等不可预测扰动，易引发飞行失稳。本文针对仿生机器人 Aerobat 的可变形机翼系统，提出一种基于共轭动量的观测器，有效估计其受到的未知外部力。仿真结果表明，该方法在存在高斯噪声和突变脉冲输入的情况下，仍能准确检测并量化外力，显著提升 Aerobat 在动态环境中的飞行稳定性与控制性能。研究为仿生扑翼系统提供了更可靠的力感知方案，推动了自主空中导航与鲁棒飞行控制的发展。
原文摘要 · Abstract (English)
Dynamic morphing wing flights present significant challenges in accurately estimating external forces due to complex interactions between aerodynamics, rapid wing movements, and external disturbances. Traditional force estimation methods often struggle with unpredictable disturbances like wind gusts or unmodeled impacts that can destabilize flight in real-world scenarios. This paper addresses these challenges by implementing a Conjugate Momentum-based Observer, which effectively estimates and manages unknown external forces acting on the Aerobat, a bio-inspired robotic platform with dynamically morphing wings. Through simulations, the observer demonstrates its capability to accurately detect and quantify external forces, even in the presence of Gaussian noise and abrupt impulse inputs. The results validate the robustness of the method, showing improved stability and control of the Aerobat in dynamic environments. This research contributes to advancements in bio-inspired robotics by enhancing force estimation for flapping-wing systems, with potential applications in autonomous aerial navigation and robust flight control.
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