Modeling and Trajectory Generation of Bird-like Flapping-wing Micro Air Vehicle

Based on the modeling of bird-like flapping-wing micro aerial vehicle (FWMAV), this paper makes detailed analysis of the trajectory generation of FWMAV, and gives the parameter calculation under different constraint conditions. Firstly, the kinematics and dynamics model of bird-like FWMAV that considered aerodynamic force caused by flapping wings and tail wing are built. After that, a smooth trajectory incorporating with the initial constraints is proposed. The algorithm can satisfy the kinematics characteristic of FWMAV, which can make the bird-like FWMAV achieve to a target circular trajectory smoothly for hovering motion from any start point. Then PD controllers are used to track the trajectory in 3D space. At last, simulation results are carried out to prove the rationality of the model and trajectory.