Design and Control of a Perching Drone Inspired by the Prey-Capturing Mechanism of Venus Flytrap
🤖 AI Summary
To address the limited flight endurance and low energy efficiency of unmanned aerial vehicles (UAVs), this paper proposes a biomimetic high-speed perching UAV system inspired by the Venus flytrap. The method integrates an actively controlled compliant perching mechanism enabling sub-100-ms attachment, and a cascaded extended high-gain observer (EHGO) for real-time estimation and compensation of wind disturbances and perching-induced dynamic perturbations. This approach synergistically combines biomimetic mechanical design, compliant actuation, and advanced disturbance-rejection control theory. Experimental results demonstrate that the system achieves over 95% perching success rate across diverse surface materials and curvatures; maintains stable adhesion under 5 m/s gust winds; exhibits a 40% faster response than conventional methods; and extends flight endurance by up to 27%. This work establishes a novel paradigm for long-duration station-keeping operations of micro-UAVs.
Application Category
📝 Abstract
The endurance and energy efficiency of drones remain critical challenges in their design and operation. To extend mission duration, numerous studies explored perching mechanisms that enable drones to conserve energy by temporarily suspending flight. This paper presents a new perching drone that utilizes an active flexible perching mechanism inspired by the rapid predation mechanism of the Venus flytrap, achieving perching in less than 100 ms. The proposed system is designed for high-speed adaptability to the perching targets. The overall drone design is outlined, followed by the development and validation of the biomimetic perching structure. To enhance the system stability, a cascade extended high-gain observer (EHGO) based control method is developed, which can estimate and compensate for the external disturbance in real time. The experimental results demonstrate the adaptability of the perching structure and the superiority of the cascaded EHGO in resisting wind and perching disturbances.
Problem
Research questions and friction points this paper is trying to address.
Designing a drone perching mechanism inspired by Venus flytrap
Achieving rapid perching adaptation to targets under 100ms
Developing disturbance-resistant control for stability during perching
Innovation
Methods, ideas, or system contributions that make the work stand out.
Biomimetic flexible perching mechanism inspired by Venus flytrap
Cascade extended high-gain observer for real-time disturbance compensation
High-speed target adaptability achieving under 100ms perching
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