In this study, the stable proportional–derivative (PD) controller gains for pitch control (longitudinal control) are obtained using the linearized and non-coupled longitudinal-mode flight dynamics model of the tailless, hover-capable, flapping wing robot named KUBeetle. To acquire a more realistic longitudinal model of KUBeetle, we incorporated the dynamics of the sensors, filters, and servo. Then, the range of PD controller gains that yield stable and sufficient stability robustness are determined using the Routh–Hurwitz, root locus, and H ∞ norm stability analyses. We observed that the stability of the closed loop controller is affected significantly by the dynamics that are incorporated. The PD controller gain with good robustness is selected based on the stability analysis. However, the low frequency gain of the PD controller was too small to attain the setpoint, although the stability margin was sufficiently high. A loop shaping compensator is designed and...

中文翻译：

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基于纵向模态模型的无尾扑翼机器人回路成形补偿器设计[J].

在这项研究中，使用名为 KUBeetle 的无尾、具有悬停能力的扑翼机器人的线性化和非耦合纵向模式飞行动力学模型，获得了用于俯仰控制（纵向控制）的稳定比例微分 (PD) 控制器增益。为了获得更逼真的 KUBeetle 纵向模型，我们结合了传感器、滤波器和伺服系统的动力学。然后，使用 Routh-Hurwitz、根轨迹和 H ∞ 范数稳定性分析确定产生稳定和足够稳定性鲁棒性的 PD 控制器增益范围。我们观察到闭环控制器的稳定性受到所包含的动力学的显着影响。基于稳定性分析选择具有良好鲁棒性的PD控制器增益。然而，尽管稳定性裕度足够高，但 PD 控制器的低频增益太小而无法达到设定值。设计了一种环路整形补偿器并...