Robust nonlinear control design for a minimally-actuated flapping-wing MAV in the longitudinal plane

We present in this paper the design of a nonlinear controller for robust control of an insect-like flapping-wing MAV model in the longitudinal plane. Only two forms of actuation are employed in the model considered herein: (i) variable wing-beat frequency and (ii) variable stroke plane angle, which result in an under-actuated model. Methodologies from averaging theory and tracking by bounded feedback are combined for the design of a controller of fixed structure that provides robust stabilization of a time-averaged vehicle model to a desired constant configuration. For the actual vehicle model, this method provides robust stabilization of a small-amplitude periodic orbit centered at the setpoint, as verified in simulation.