Real Time Control of Tandem-Wing Experimental Platform Using Concerto Reinforcement Learning

Recent advancements in motor technology and f abrication techniques, have significantly enhanced the performance of hover - capable flapping - wing aircraft, thereby demonstrating greater application flexibility [1 - 7] . Dragonfly - inspired hover - capable flapping - wing aircraft utilize a unique four - wing independent drive mechanism, enhancing maneuverability [8 - 11], Consequently, various types of dragonfly - inspired aircraft have been developed in recent years, including those employing mechanical structures to generate the reciprocating motions necessary for lift and asymmetric wing movements for control torques [12 - 14], as well as direct - drive aircraft utilizing miniature servo motors to simultaneously achieve reciprocating motions for lift and asymmetric wing movements for control torques [8, 15] . Among these, direct - drive biomimetic aircraft, with control architectures and manipulations more akin to conventional robotics [16] and leveraging direct - drive characteristics [17 - 20] for improved performance, have attracted significant research interest [10, 21, 22] . A typical example is the DDD - 1 aircraft, developed by the authors' team and illustrated in Fig.1 [9, 10, 22 - 25] . This platform faces significant challenges due to nonlinear, unsteady aerodynamic interactions resulting from its tandem wings [9, 10, 25] . While sufficient lift is generated to enable vertical motion along a track, achieving stable hovering remains challenging owing to the need for more sophisticated control strategies in the presence of additional aerodynamic interference from closely spac ed tandem wings compared to direct - drive dual - wing aircraft. To address this issue and maintain similarity with the DDD - 1 while circumventing the limitations that existing experiments cannot directly apply results to airborne biomimetic aircraft [26, 27], the Direct - Drive Tandem - Wing Experiment Platform (DDTWEP), as shown in Fig.2, equipped with a six - component balance, has been developed to explore the pitch, roll, and yaw control strategies of four - wing direct - drive biomimetic aircraft under the nonline ar and unsteady aerodynamic interference of tandem wings.