Modeling and Control of A Bird-like Flapping Wing Aerial Vehicle Driven by Servos

In this paper, dynamics modeling and control scheme of a flapping wing aerial vehicle driven by three servos are investigated. According to the quasi-steady state theorem and the characteristics of flexible wings flapping movement, a simplified aerodynamic modeling scheme is proposed such that the body aerodynamic force and the flapping force of the flapping wing aerial vehicle are calculated and the relationship between its own attitude and aerodynamic force is built. Then, the Lagrangian position and attitude dynamics model are established based on the aerodynamic model. Next, in order to solve the problem of low modeling accuracy and strong disturbance in the flight process of flapping wing aerial vehicle that cannot keep stationary status, a cascaded structural sliding mode control method and the path-tracking scheme are proposed. Finally, the flight control system is simulated in MATLAB, which illustrates that the sliding mode control method has good robustness.