Limit cycle oscillation suppression controller design and stability analysis of the periodically time-varying flapping flight dynamics in hover

The periodically time-varying forces make the equilibrium state of Beihawk, an X-shaped flapping-wing aircraft, to be a periodic limit cycle oscillation. However, traditional controllers based on averaging theory fail suppress this oscillation and derived stability result may inaccurate. In study, period-based method is proposed design suppression controller, locate corresponding analyze its stability. A wing-tail interaction model built Discrete Fourier Transform applied adapt for controller design. harmonics less than quintuple flapping frequency account more 96 percent total are reserved present concise model. Based model, active disturbance rejection (ADRC) designed Extended State Observer can observe Poincaré map introduced convert analysis fixed point. multiple shooting adopted several points obtained by calculating submaps between adjacent with Floquet theory. located proved accurate compared numerical solved verified dynamic evolution. Compared Feedback Controller, ADRC performs better in suppressing eliminating attitude control error. meaningful maintaining stable flight capturing high quality images.