受捕蝇草捕食机制启发，实现100毫秒内快速抓握的仿生停驻无人机。
Design and Control of a Perching Drone Inspired by the Prey-Capturing Mechanism of Venus Flytrap
- 模仿捕蝇草快速闭合机制，设计可高速自适应抓握的柔性停驻结构。
- 实测停驻时间小于100毫秒，且在风扰和冲击下仍能稳定停驻。
- 适合需要快速节能停驻的巡检、侦察等场景，尤其在复杂环境优势明显。
无人机的续航与能量效率仍是设计与应用中的关键挑战。为延长任务时长，诸多研究探索了通过停驻来节省能源的机制。本文提出一种受捕蝇草快速捕食机制启发的新型停驻无人机，实现了不到100毫秒的快速停驻。该系统具备高动态适应性，能快速响应不同目标。论文详细介绍了整体无人机设计，并完成了仿生停驻结构的开发与验证。为提升系统稳定性，提出一种基于级联扩展高增益观测器（EHGO）的控制方法，可实时估计并补偿外部扰动。实验结果表明，该停驻结构具有良好的适应性，级联EHGO在抗风及停驻扰动方面表现优异。
原文摘要 · Abstract (English)
The endurance and energy efficiency of drones remain critical challenges in their design and operation. To extend mission duration, numerous studies explored perching mechanisms that enable drones to conserve energy by temporarily suspending flight. This paper presents a new perching drone that utilizes an active flexible perching mechanism inspired by the rapid predation mechanism of the Venus flytrap, achieving perching in less than 100 ms. The proposed system is designed for high-speed adaptability to the perching targets. The overall drone design is outlined, followed by the development and validation of the biomimetic perching structure. To enhance the system stability, a cascade extended high-gain observer (EHGO) based control method is developed, which can estimate and compensate for the external disturbance in real time. The experimental results demonstrate the adaptability of the perching structure and the superiority of the cascaded EHGO in resisting wind and perching disturbances.
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