本論文主要是在探討微型拍翼機(MAV)的軌跡控制。淡江大學在拍翼機的研發，已經進行很長的時間，所觸及的範圍包括設計、製造和控制。在淡江大學機械所微機電實驗室所研發之微型拍翼機”金探子”的基礎之下，我們發展出一種非侵入式的視訊導航技術，來克服機體過輕無法裝載感測器的限制。此外，我們亦設計控制律以穩定MAV的飛行軌跡。本文用數值模擬來展示控制法的可行性，以及利用飛行測試來驗證研究成果，最後完成MAV的高度控制。 The trajectory control of flapping-wing microaerial vehicles (MAVs) is discussed in this paper. The Tamkang University (TKU) has been devoted to the development of flapping-wing robots for a long period, including design, fabrication and control. On the basis of the earlier knowledge on the Golden Snitch, a flapping-wing MAV in TKU, we develop a non- intrusive navigation methodology by using stereo vision, and stabilize the flight trajectory with a modified Pcontrol. Different from other mechanical or aerial systems, the selections in control signal are limited in this problem due to the restrictions in carry-on weight. Numerical simulations also provided to demonstrate the robustness of our control law, and flight test is used to examine this design. From the experiment results we have demonstrated the feasibility of our algorithm.
