Staged Parameter Optimisation for a Robotic Bird Model

Authors

  • Sander Vlot Delft University of Technology
  • Marjolijn Heslinga Delft University of Technology
  • Bart Keulen Delft University of Technology
  • Jan Wymenga Delft University of Technology

DOI:

https://doi.org/10.25609/sure.v1.1060

Abstract

This paper proposes a method to estimate a nonlinear mathematical model describing the dynamic behaviour of a robotic bird. Established knowledge on aircraft modelling and aerodynamics is used to derive an appropriate model structure. A new parameter optimisation method is developed, which consists of experiment design and staged parameter optimisation using datasets from test flights. The modelling method delivers promising results for predicting pitch and yaw of a model aeroplane and can be applied to the Robird when flight data become available.

References

Clear Flight Solutions.

http://www.clearflightsolutions.com, 2014.

Jia-chi Wu and Zoran Popovic. Realistic modeling

of bird flight animations. ACM Transactions on

Graphics (TOG), 22(3):888–895, 2003.

Bret W Tobalske. Biomechanics of bird flight.

Journal of Experimental Biology,

(18):3135–3146, 2007.

Michael A Bolender. Rigid multi-body

equations-of-motion for flapping wing mavs using

kane’s equations. In AIAA Guidance, Navigation,

and Control Conference, number 2009-6158, 2009.

Rajkiran Madangopal, Zaeem A Khan, and Sunil K

Agrawal. Biologically inspired design of small

flapping wing air vehicles using four-bar

mechanisms and quasi-steady aerodynamics.

Journal of Mechanical Design, 127(4):809–816,

John David Anderson. Introduction to flight, volume

McGraw-Hill Boston, 2005.

Bernard Etkin and Lloyd Duff Reid. Dynamics of

flight: stability and control. Wiley New York, 1996.

J.A. Mulder. Flight Dynamics (AE3202). Lecture

Notes. Delft University of Technology, the

Netherlands, 2011.

Jan Roskam. Airplane flight dynamics and

automatic flight controls. DARcorporation, 1995.

Stefan Hartman. Towards the development of

bird-like flapping wing robots. MSc thesis,

University of Twente, the Netherlands, 2011.

Lennart Ljung. System Identification: Theory for the

User (2nd Edition). Prentice Hall, 1999.

Michel Verhaegen and Vincent Verdult. Filtering

and System Identification: A Least Squares

Approach. Cambridge University Press, 2007.

Edward Lewis Houghton and Peter William

Carpenter. Aerodynamics for engineering students.

Butterworth-Heinemann, 2003.

Downloads

Published

2015-11-20

How to Cite

Vlot, S., Heslinga, M., Keulen, B., & Wymenga, J. (2015). Staged Parameter Optimisation for a Robotic Bird Model. Student Undergraduate Research E-Journal!, 1. https://doi.org/10.25609/sure.v1.1060

Issue

Vol. 1 (2015): Student Research Conference 2015

Section

Economics & Social Sciences

License

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted under the conditions of the Creative Commons Attribution-Share Alike (CC BY-SA) license and that copies bear this notice and the full citation on the first page.