Modeling and Under-actuated Control of Stabilization Before Take-off Phase for Flapping-wing Robots

This work studies a stabilization problem of flapping-wing flying robots (FWFRs) before take-off phase while robot is on branch. The claw the FWFR grasps branch with enough friction to hold system steady in stationary condition. Before take-off, opens itself and between vanishes. At that moment, mechanical model turns into an under-actuated multi-link (serial configuration) robotic where first joint can rotate freely without any as opposed rotation. balancing are crucial tasks take-off. explores new methodology control lightweight manipulator for its future adaptation improve performance setup tries mimic birds two-link legs, body link, 2-DoF (degrees freedom) arms, being all active links except passive one. In contrast common lightweight-design restriction limits frame size requires micromotors. With these constraints, design challenge, hence, categorized: a) leg subsystem (under-actuated), including two links, b) arm (fully actuated) rest links. fully-actuated controlled by feedback linearization part disturbance rejection (ADRC) estimation coupling both subsystems. design, modeling, proposed reported this work. Experimental results have been also present proof concept modeling approach.