Modeling and control of a biologically inspired compliant structure
We hypothesize that the extraordinary maneuverability and efficiency of bats in flight are in part due to the compliant nature of their wing structures. We utilize the parameters of bat bones measured by biologists to create a biologically inspired model of a flapping system consisting of a rotating hub actuator and flexible Euler-Bernoulli beam. The problem of achieving flapping is formulated as an optimal control tracking problem. We investigate the solution to this problem using the Linear Quadratic Regulator (LQR), MINMAX, and linear quadratic gaussian (LQG) control methodologies. The success of each in rejecting a gust-like disturbance on the beam tip is investigated. It is shown that due to the mathematical formulation of the problem, the disturbance rejecting ability of MINMAX control is of little use to the types of disturbances investigated. LQG control is shown to be successful at rejecting the disturbance.
Advisor:Batten, Belinda B.; Gibson, Nathan; Tumer, Kagan; Spitz, Yvette
School:Oregon State University
School Location:USA - Oregon
Source Type:Master's Thesis
Keywords:optimal control lqr lqg minmax flexible beam multiple component structure bats flight mathematical models wings anatomy linear systems
Date of Publication:04/06/2009