Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial VehicleThis paper presents both the trajectory generation and tracking control strategies for an underactuated flapping wing aerial vehicle (FWAV). First, the FWAV dynamics is analyzed in a practical perspective. Then, based on these analyses, we demonstrate the differential flatness of the FWAV system, and develop a general-purpose trajectory generation strategy. Subsequently, the trajectory tracking controller is developed with the help of robust control and switch control techniques. After that, the overall system asymptotic stability is guaranteed by Lyapunov stability analysis. To make the controller applicable in real flight, we also provide several instructions. Finally, a series of experiment results manifest the successful implementation of the proposed trajectory generation strategy and tracking control strategy. This work firstly achieves the closed-loop integration of trajectory generation and control for real 3-dimensional flight of an underactuated FWAV to a practical level.

翻译：本文提出了欠驱动扑翼飞行器的轨迹生成与跟踪控制策略。首先，从实际应用角度分析了扑翼飞行器的动力学特性。基于这些分析，我们验证了扑翼飞行器系统的微分平坦性，并开发了一种通用轨迹生成策略。随后，结合鲁棒控制和切换控制技术设计了轨迹跟踪控制器，并通过Lyapunov稳定性分析保证了整体系统的渐近稳定性。为使控制器适用于实际飞行，我们提供了若干操作指导。最后，一系列实验结果表明，所提出的轨迹生成策略与跟踪控制策略成功实现了实际应用。这项研究首次将欠驱动扑翼飞行器实际三维飞行的轨迹生成与控制闭环集成推进到实用水平。