Abstract：A decoupled control mechanism is proposed to solve the underactuation problems existed in flight control of the insect-like flapping wing micro air vehicles(FMAVs).The control effect of wing kinematics parameters on aerodynamics wrenches is analyzed firstly with theoretical analysis and simulation,and then a decoupled control mechanism is designed by mimicking the biological motion of insect flight,which can control the aerodynamics forces and moments independently by adjusting the wing kinematics parameters.This mechanism uses periodic function to parameterize the control input so that more independent control parameters can be incorporated into the dynamics of insect-like FMAVs,and solves the underactuation problem by making the original dynamics fully controllable.Meanwhile, the presented controlled mechanism only requires the attack angle to be controllable,and effectively reduces the difficulty in designing insect-like FMAVs.
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