This paper describes the research into the flight dynamics modelling and
flight control of a flapping wing micro aerial vehicle (MAV). The equations
of motion based on a multi-body representation of the vehicle and the
flapping wings were derived and form the basis for the simulation program,
which was developed using MATLAB and SIMULINK. The aerodynamic forces were
obtained through experimental methods and form the basis for the aerodynamic
model.
The hovering and low speed flight of the MAV was investigated using a
SIMULINK simulation model. Various flight control concepts, inspired by
observation of insect and bird flight, were investigated in some detail. The
concepts include the control of flap frequency, flap and pitch phasing (wing
beat kinematics) and shift in centre of gravity position. The paper
concludes with a comparison of the control concepts and their feasibility
for a practical vehicle application.
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