Dynamical Modelling For A Dragonfly Micro Aerial Vehicle Vidya Menon by Vidya Menon instant download after payment.

Researchers are developing ever smaller aircraft called Micro Aerial Vehicles (MAVs). The

Space Robotics Group has joined the eld by developing a dragon

y-inspired MAV. This

thesis presents two contributions to this project. The rst is the development of a dynamical

model of the internal MAV components to be used for tuning design parameters and as a

future plant model. This model is derived using the Lagrangian method and di ers from

others because it accounts for the internal dynamics of the system. The second contribution

of this thesis is an estimation algorithm that can be used to determine prototype performance

and verify the dynamical model from the rst part. Based on the Gauss-Newton Batch

Estimator, this algorithm uses a single camera and known points of interest on the wing to

estimate the wing kinematic angles. Unlike other single-camera methods, this method is

probabilistically based rather than being geometric.