Research on aerodynamic force and position control of micro flapping flight

As micro flapping flight is investigated further, its control is paid more attention to. Based on the quasi-state aerodynamic model of micro flapping flight, the aerodynamic lift and drag was investigated, and a dynamic model in longitudinal plane was proposed. Considering the nonlinear and coupled characteristic of micro flapping flight, switching control strategy was used for position control. Then, flapping plane angle and maximal flap angle was chosen as control parameters, and feedback information is the linear combination of position error and velocity error. After control parameters were decided through computing average force with numerical method, switching control law was designed. Finally, climbing flight and horizontal flight of micro flapping flight were simulated.