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Flight Dynamics and System Identification for Modern Feedback Control by J Hubbard Jr., J Grauer

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3

Rigid multibody vehicle dynamics

Abstract:

Chapter 2 concluded with a recommendation to model ornithopter flight dynamics using nonlinear multibody techniques. In this chapter, the nonlinear equations of motion are derived for a multibody ornithopter. The model configuration is first presented, where the ornithopter is simplified as a system of three rigid bodies. The kinematic equations are then derived for this system, followed by the dynamic equations. Energy methods were employed, which resulted in a minimum state model, cast into a canonical form and having Lyapunov functions derived from scalar energy functions. At the conclusion of this chapter, only the aerodynamics model remains to be determined.

Key Words

rigid multibody dynamics ...

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