Micro Aerial Vehicle (MAV) Flapping Motion Control Using an Immune Network with Different Immune Factors. (2nd August 2013)

• Record Type: Journal Article
• Authors: Weng, Liguo; Xia, Min; Hu, Kai; Wang, An
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 8(2013)
• Publication Date: 2013-08-02
• Subjects: Neural-Immunology / Memory Network -- Immune Factor -- MAVs -- Bio-Inspired; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/56733
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper proposes a novel Neural-Immunology/Memory Network to address the problem of motion control for flapping-wing Micro Aerial Vehicles (MAVs). This network is inspired by the human memory system as well as the immune system, and it is effective in attenuating the system errors and other lumped system uncertainties. In contrast to most existing Neural Networks, the convergence of this proposed Neural-Immunology/Memory Network can be theoretically proven. Both analyses and simulations that are based on different immune factors show that the proposed control method is effective in dealing with external disturbances, system nonlinearities, uncertainties and parameter variations.