The wifly: Flapping-wing small unmanned aerial vehicle with center-of-gravity shift mechanism

Taichi Nozawa, Keita Nakamura, Ryosuke Katsuyama, Shunki Kuwajima, Ziyan Li, Akira Nomizu, Riku Okamoto, Toshitatsu Munakata, Takanobu Watanabe

Research output: Contribution to journalArticlepeer-review

Abstract

This paper describes the development of a flappingwing unmanned aerial vehicle (UAV) named WiFly, which is equipped with a center-of-gravity (COG) shift mechanism. This mechanism allows seamless changes in the flight attitude between hovering and level flight by controlling the pitch angle. We implemented two types of feedback control systems in WiFly: PID control and reinforcement learning (shallow Q-learning) to stabilize the flight attitude. The controllability of WiFly is drastically improved by employing a doublemotor drive system to independently control the flipping frequencies of the left and right wings.

Original languageEnglish
Pages (from-to)205-215
Number of pages11
JournalJournal of Robotics and Mechatronics
Volume33
Issue number2
DOIs
Publication statusPublished - 2021

Keywords

  • Feedback control of flight attitude
  • Flapping-wing UAV
  • Movable center of gravity

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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