Control Simulation of Flapping-Wing Micro Aerial Vehicle Based on Multi-level Optimization Model Predictive Control

In this paper, a control algorithm using multi-level optimization and model predictive control is proposed to solve the conflict between the computational cost and control accuracy of the flapping-wing micro aerial vehicle. First, a quasi-steady model is established to evaluate the aerodynamic force...

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Vydáno v:	IEEE access Ročník 12; s. 1
Hlavní autoři:	Zheng, Hongyu, Chen, Wengang, Xie, Fangfang
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Piscataway IEEE 01.01.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Accuracy Aerodynamic forces Aerodynamics Algorithms Atmospheric modeling Computational efficiency Computational modeling Control algorithms Control simulation Control theory Flapping wing vehicle Flapping wings Force Kinematics Micro air vehicles (MAV) Model predictive control Multi-level optimization Optimization Optimization models PD control PI control Predictive control Predictive models Proportional integral derivative Quasi-steady model Tracking control
ISSN:	2169-3536, 2169-3536
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Abstract	In this paper, a control algorithm using multi-level optimization and model predictive control is proposed to solve the conflict between the computational cost and control accuracy of the flapping-wing micro aerial vehicle. First, a quasi-steady model is established to evaluate the aerodynamic forces and moments of the flapping-wing vehicle, and the forces and moments are then optimized to meet the control requirements based on classical model predictive control. Then an optimization module based on the quasi-steady model is introduced to optimize the kinematic parameters to achieve the optimal forces and moments, thus it decomposes the complex optimization problem of the classical model predictive control into two sub-problems. Compared with classical PID control and model predictive control, the response speed of the multi-level optimization model predictive control is effectively improved while maintaining high accuracy. Finally, the effectiveness of the control framework is validated by the control simulations of four examples of set-point and motion tracking control.
AbstractList	In this paper, a control algorithm using multi-level optimization and model predictive control is proposed to solve the conflict between the computational cost and control accuracy of the flapping-wing micro aerial vehicle. First, a quasi-steady model is established to evaluate the aerodynamic forces and moments of the flapping-wing vehicle, and the forces and moments are then optimized to meet the control requirements based on classical model predictive control. Then an optimization module based on the quasi-steady model is introduced to optimize the kinematic parameters to achieve the optimal forces and moments, thus it decomposes the complex optimization problem of the classical model predictive control into two sub-problems. Compared with classical proportional-integral-derivative control and model predictive control, the response speed of the multi-level optimization model predictive control is effectively improved while maintaining high accuracy. Finally, the effectiveness and stability of the control framework are validated by the control simulations of set-point and motion-tracking control. In this paper, a control algorithm using multi-level optimization and model predictive control is proposed to solve the conflict between the computational cost and control accuracy of the flapping-wing micro aerial vehicle. First, a quasi-steady model is established to evaluate the aerodynamic forces and moments of the flapping-wing vehicle, and the forces and moments are then optimized to meet the control requirements based on classical model predictive control. Then an optimization module based on the quasi-steady model is introduced to optimize the kinematic parameters to achieve the optimal forces and moments, thus it decomposes the complex optimization problem of the classical model predictive control into two sub-problems. Compared with classical PID control and model predictive control, the response speed of the multi-level optimization model predictive control is effectively improved while maintaining high accuracy. Finally, the effectiveness of the control framework is validated by the control simulations of four examples of set-point and motion tracking control.
Author	Chen, Wengang Zheng, Hongyu Xie, Fangfang
Author_xml	– sequence: 1 givenname: Hongyu orcidid: 0000-0002-7008-0064 surname: Zheng fullname: Zheng, Hongyu organization: School of Aeronautical and Mechanical Engineering, Changzhou Institute of Technology, Changzhou, Jiangsu, China – sequence: 2 givenname: Wengang surname: Chen fullname: Chen, Wengang organization: School of Aeronautical and Mechanical Engineering, Changzhou Institute of Technology, Changzhou, Jiangsu, China – sequence: 3 givenname: Fangfang surname: Xie fullname: Xie, Fangfang organization: Department of Aeronautics and Astronautics, Zhejiang University, Hangzhou, Zhejiang, China
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SubjectTerms	Accuracy Aerodynamic forces Aerodynamics Algorithms Atmospheric modeling Computational efficiency Computational modeling Control algorithms Control simulation Control theory Flapping wing vehicle Flapping wings Force Kinematics Micro air vehicles (MAV) Model predictive control Multi-level optimization Optimization Optimization models PD control PI control Predictive control Predictive models Proportional integral derivative Quasi-steady model Tracking control
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Title	Control Simulation of Flapping-Wing Micro Aerial Vehicle Based on Multi-level Optimization Model Predictive Control
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