06.1 - Flight Dynamics and Control (Control & Modelling)
DYNAMICS ANALYSIS AND CONTROL OF A LARGE WINGSPAN FLAPPING-WING VEHICLE
C. Zhai¹, B. Song¹, Q. Fu¹, J. Xuan¹, J. Li¹; ¹NORTHWESTERN POLYTECHNICAL UNIVERSITY, China
In this paper, the dynamics modeling, analysis, and control of large wingspan flapping-wing vehicles (LWFWVs) are investigated. Based on the wind tunnel experimental method and aerodynamic estimation theory, the dynamics model of the LWFWV is presented. By analyzing the properties of the dynamics of the LWFWV, an attitude controller is designed. To implement trajectory tracking control, a position controller is also designed. Through numerical simulations and flight tests, it has been demonstrated that the controllers are effective.