More Detailed Disturbance Measurement and Active Disturbance Rejection Altitude Control for a Flapping Wing Robot Under Internal and External Disturbances

Abstract With the goal of designing a biologically inspired robot that can hold stable hover under internal and external disturbances. We designed tailless Flapping-wing Micro Aerial Vehicle (FMAV) with onboard 3D velocity perception. In this way, wind disturbance caused by relative motion FMAV be quantified in real time based on established altitudinal dynamics model. For rest total disturbance, an active rejection controller is proposed to estimate suppress those comparison traditional PID controller, approach has been validated. The results show that, hovering flight unmodeled dynamics, root-mean-square height controlled only 2.53 cm. Even different weights loads mounting FMAV, ascending trajectory flights remains impressively consistent. forward error 2.78 When flies over ladder introducing abrupt maximum overshoot half controller. To our best knowledge, first demonstration FMAVs capability sensing motion-generated handling disturbances flight.