Control strategy for insect-like flapping wing micro air vehicles: Attitude control

In allusion to underactuate and periodic of insect-like flapping wing micro air vehicle (FMAV), a method of the controller for FMAV is presented using averaging theory and time-periodic feedback. This method first approximates the non-steady dynamics of FMAV with its averaged system based on averaging theory. Then designs the time-periodic feedback controller by adjusts the wing kinematics parameters to introduce more independent control parameters into the averaged system. The averaged system is controllable if the numbers of control is equal to the numbers of freedoms, then the controller for FMAVpsilas stabilization can be designed by standard tools. Simulated results on FMAV indicate that the controller designed by such strategy has rapid response and small steady-state error.