Adaptive Control of Flapping-Wing Micro Aerial Vehicle with Coupled Dynamics and Unknown Model Parameters

With the complex aerodynamics, accurate system model of flapping-wing micro aerial vehicle required for precise control is hard to acquire, meanwhile, due unique strategy, coupling between actuators also brings a great challenge vehicle. In this paper, we establish theoretical Based on model, propose multiaxial adaptive controller with reference generator attitude and altitude using backstepping design method, stability proved by Lyapunov function. Moreover, allocation algorithm proposed coordinate different such that they together produce desired virtual efforts. addition, detail lightweight sensing onboard. Then, effectiveness scheme verified simulation flight test multi-axis simultaneous conducted The experimental results show can maintain hovering ensure convergence parameters even when unilateral thrust not enough manufacturing assembly errors. This work provides an idea us explore how insects stable in face changes their parameters.