Dynamic model and attitude control of Flapping Wing Micro Aerial Vehicle

The flying mechanism of birds and big insects, especially the rules of wings motion in flight, are investigated, and some details of mechanical frame are also considered. The entire dynamic model of flight attitude of flapping wing micro aerial vehicle (FWMAV) is developed. The design of attitude controller is challenging due to the complexity of the flight process, and the heavy difficulty includes the system uncertainty, nonlinearity, multi-variable coupled parameters, and all kinds of disturbances. To control the attitude movement effectively, an adaptive robust control scheme is proposed to decompose the system into nominal model, structured uncertainties, and unstructured uncertainty. For them, direct feedback controller, adaptive controller, and robust controller are constructed respectively. Simulation results are presented to verify the validity of the dynamic model and the control strategy.