Model and control of flight attitude for 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 embodies uncertainty, nonlinearity, multi-variable coupled parameters, and all kinds of disturbances. To track the attitude movement effectively, an integral feedback compensation strategy is constructed through identifying on-line and compensating real-timely the quantities of external disturbances and parametric uncertainty, and only the upper bound of their derivative is required. Simulation results are presented to verify the validity of the dynamic model and the control strategy.