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Smooth Variable Structure Control for the Flapping Motion of Micro Aerial Vehicles (MAVs)

Liguo Weng


This paper investigated the skeletal and muscular components of hummingbirds. And in consideration of the similarities between the hummingbird and the Micro Aerial Vehicle (MAV), a dynamic model for MAV flapping motion was introduced. Plus, based on the system dynamics, a smooth Variable Structure Control (VSC) was presented. It is interesting that, unlike the traditional VSC, which yield many chattering in control signals, this smooth VSC eliminated this shortage by integration approach. Both theoretical analysis and computer simulation verified its effectiveness.

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