2009 Fiscal Year Final Research Report
Development of modeling technique for dynamic variable structure system and application to flight control of biology-inspired flapping robot
Project/Area Number |
19760151
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Research Category |
Grant-in-Aid for Young Scientists (B)
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Allocation Type | Single-year Grants |
Research Field |
Dynamics/Control
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Research Institution | The University of Electro-Communications |
Principal Investigator |
OHTAKE Hiroshi The University of Electro-Communications, 電気通信学部, 助教 (60377017)
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Project Period (FY) |
2007 – 2009
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Keywords | 動的可変構造システム / sector nonlinearity / 羽ばたき飛行ロボット |
Research Abstract |
In this research, modeling technique for dynamic variable structure system such as the flapping motion of a bird was developed. The mathematical model of the flapping motion was identified by using the technique and the controller was designed based on the identified model. Finally, the proto-type flapping robot was developed and the flight experiment was performed. The validity of the identified model and designed controller were demonstrated.
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