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A Study Of Evolvable Hardware Adaptive Oscillators For Augmentation Of Flapping-Wing Micro Air Vehicle Altitude Control, Bharath Venugopal Chengappa

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The control of insect-sized flapping-wing micro air vehicles is fraught with difficulties. Even when adequate control laws are known, limits on computational precision and floating-point processing can render it difficult to field implementations that provide sufficiently accurate and precise vehicle body placement and pose. Augmentation of an existing altitude controller with an Evolvable Adaptive Hardware (EAH) oscillator has been proposed as a means for an on-board altitude controller to correct control precision and accuracy difficulties during normal flight. This thesis examines a range of setting of the internal learning algorithms for the EAH oscillator and provides empirical evidence about which …