Dynamics Analysis and Control of a Large wingspan Flapping-Wing Vehicle

In this paper, we investigate the dynamics modeling and control approaches for a large wingspan flapping-wing vehicle (LWFWV). To balance modeling accuracy and efficiency, we adopt separate modeling approaches for the aerodynamic components: the flapping wings and the tail assembly. The aerodynamic model for the flapping wings is derived from wind tunnel experiments, while the tail assembly’s model, similar to that of fixed-wing vehicles, is established using empirical estimation methods. The equations of motion for the vehicle are obtained using the single rigid-body method. We employ periodic averaging theory to linearize the model, resulting in a linear time-invariant system. The system's stability is assessed based on the eigenvalue distribution of the transfer function matrix. Subsequently, we design the attitude controller based on the cascade PID algorithm and the position controller based on the total energy control algorithm. The effectiveness of the controllers is verified through numerical simulations and flight experiments.