Control of vertical flight of the micro aerial vehicle with flapping wings

Several systems (biomimetic, electric, mechanical...) use means of locomotion based on the iterative movements of the actuators. That results in periodic inputs for the dynamic of these systems. The control of this class of systems by direct application of the existing methods of control does not give periodic inputs inevitably and the consideration of the periodic inputs more complexes the mathematical models of these systems and makes them dependent on time. Our study relates to a particular system which belongs to the class of systems mentioned above which is a Micro Aerial Vehicle with flapping wings. We then propose a control method of this strongly nonlinear system with periodic inputs, based on three principal ideas: the parameterization of the inputs, their taking into account in an implicit way in the model and the application of averaging theory. The averaged model thus released will be used for the calculation of the control by using the method of predictive control, which will be then applied to the original model.