Decoupled Control for Insect-like Flapping Wing Air Vehicles

In order to solve the underactuation problem in flight control of insect-like flapping wing micro air vehicle (FMAV),a periodic time-varying feedback control strategy based on averaging theory is proposed to control the FMAV and the input parametric design method for the controller is given.The approach control the six forces and torques of the FMAV independently by adjusting wing kinematics parameters based on simulating the flapping motion of flying insect.It is essentially that the input of the underactuated system is parameterized to design periodic time-varying feedback function, and then more independent control parameters can be introduced into the original system to make it completely controllable. Then the controllable system is linearised and the control law is designed by standard linear feedback controller design tools. Simulation results demonstrate that the controller designed by such strategy has such characteristics as rapid response,small steady-state error and strong robustness.