Port-Hamiltonian Energy-based Control of a Flapping-wing UAV

Finished: 2021-04-30

MSc assignment

This thesis tackles the problem of modelling and control of a class of flapping-wing aerial vehicle using the port hamiltonian framework.

Flapping wing aerial vehicles have taken a huge part of literature throughout the past decades. However, using energy-based modelling techniques such as the port hamiltonian approach have not been addressed properly. The aim of this thesis is to address this problem.

Moreover, this works represents a fundamental step to the control of the RoBird at RAM, UTwente. However, beforehand, computer simulations have to be carried out and this will be achieved through 20 sim.