Model and control of Micro Flapping-wing Aerial Robot

The flying mechanism of birds and big insects, especially the rules of wings motion in flight, are investigated. Some details of mechanical frame are also considered. The entire dynamic model of flight attitude for Micro Flapping-wing Aerial Robot(MFAR) is developed. The design of attitude controller is challenging due to the complexity of the flight process, and the heavy difficulties are system uncertainty, nonlinearity, multi-variable coupled parameters, and all kinds of disturbances. To these difficulties, the system is decomposed into nominal model and uncertain item. An adaptive sliding mode controller is constructed, which not only has a good robustness for the uncertainty but also overcomes the quivering in the control input of conventional sliding mode control. Simulation results are presented to verify the validity of the dynamic model and the control strategy.