鸟状扑翼飞行器(BFAV)是一种模拟鸟类飞行模式的机器人创新。与固定翼和旋转翼飞行器相比,BFAV提供卓越的属性,如隐身,增强机动性,适应性强,低噪音,这使BFAV具有许多应用的前景。因此,在可预见的未来,它代表了飞行器领域研究的关键方向。然而,扑翼飞行器是一个非线性和不稳定的系统,由于难以使用传统方法和空气动力学进行分析和表征,因此对BFAV实现自主飞行提出了重大挑战。因此,飞行控制作为扑翼飞行器实现自主飞行的主要关键,受到学者们的广泛关注。本文阐述了BFAV的飞行原理,其次是对影响鸟类飞行的各种重要因素的综合分析。随后,对BFAV中飞行控制的现有文献进行了回顾,BFAV的飞行控制分为三个不同的部分:位置控制,轨迹跟踪控制,和编队控制。此外,审议和分析了每个组件的控制算法的最新进展。最终,提出了对未来研究方向的预测。
The Bird-like Flapping-wing Air Vehicle (BFAV) is a robotic innovation that emulates the flight patterns of birds. In comparison to fixed-wing and rotary-wing air vehicles, the BFAV offers superior attributes such as stealth, enhanced maneuverability, strong adaptability, and low noise, which render the BFAV a promising prospect for numerous applications. Consequently, it represents a crucial direction of research in the field of air vehicles for the foreseeable future. However, the flapping-wing vehicle is a nonlinear and unsteady system, posing significant challenges for BFAV to achieve autonomous flying since it is difficult to analyze and characterize using traditional methods and aerodynamics. Hence, flight control as a major key for flapping-wing air vehicles to achieve autonomous flight garners considerable attention from scholars. This paper presents an exposition of the flight principles of BFAV, followed by a comprehensive analysis of various significant factors that impact bird flight. Subsequently, a
review of the existing literature on flight control in BFAV is conducted, and the flight control of BFAV is categorized into three distinct components: position control, trajectory tracking control, and formation control. Additionally, the latest advancements in control algorithms for each component are deliberated and analyzed. Ultimately, a projection on forthcoming directions of research is presented.