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.
- Feedback control of flight attitude
- Flapping-wing UAV
- Movable center of gravity
ASJC Scopus subject areas
- Computer Science(all)
- Electrical and Electronic Engineering