Modeling and control of a biologically inspired compliant structure

by Ray, Cody W.

Abstract (Summary)
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.
Bibliographical Information:

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

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