无需模型的自然悬停优化机制首次实验证明，让仿生飞行器自主稳定悬停。
First Experimental Demonstration of Natural Hovering Extremum Seeking: A New Paradigm in Flapping Flight Physics
- 利用翅膀自然振荡作为控制与推进源，实现无模型实时反馈控制
- 在光源引导下成功稳定悬停，仅依赖局部光照强度反馈
- 对延迟和噪声鲁棒，适合无精确模型的微型飞行器设计
本文首次在实验上验证了新提出的自然悬停极值搜索（Natural Hovering Extremum Seeking, NH-ES）理论。该机制无需飞行器的形态或空气动力学模型，仅通过翅膀的固有振荡作为控制与推进输入，结合局部光照强度的实时反馈，在完全无模型设置下实现自主升空与稳定悬停。实验中，类蛾仿生飞行体在光源引导下稳定悬浮，且系统可自主调节翻滚动态，克服文献中认为导致开环悬停不稳定的主因之一。该方法在存在延迟与噪声条件下仍保持稳定，验证其对实际环境扰动具有强鲁棒性。
原文摘要 · Abstract (English)
In this letter, we report the first experimental demonstration of the recently emerged new paradigm in hovering and flapping flight physics called (Natural Hovering Extremum Seeking (NH-ES)) [doi.org/10.1103/4dm4-kc4g], which theorized that stable hovering flight physics observed in nature by flapping insects and hummingbirds can be generated via a model-free, real-time, computationally-basic, sensory-based feedback mechanism that only needs the built-in natural oscillations of the flapping wing as both the control and the propulsive input. We run experiments of moth-like, light source-seeking, on a flapping-wing body in a total model-free setting that is agnostic to morphological parameters and body/aerodynamic models. We show that the flapping body using NH-ES gains altitude and stabilizes autonomously the servos responsible for flapping, including with pitching dynamics (believed in literature to be a main reason of instability in open-loop hovering). The flapping body effectively/stably hovers about the light source, needing only feedback of local measurements of light intensity. Our results were also achieved under delay/noise effects, supporting earlier observations that NH-ES is robust against potential processing delays and noisy-sensations.
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