Stability of the flapping-wing vehicle near hovering under active control by varying flapping frequency

We establish the dynamics relative to flapping angle of the flapping wing vehicle based on the quasi-steady aerodynamics model and Newton-Euler motion equations, and describe the stability analysis method of linearized perturbation equation under active control by varying flapping frequency based on the Routh-Hurwitz stability criterion. To give a demonstration, we design a flapping wing mechanism and analyze its stability under the linear controller. As a typical benchmark, the aerodynamic and kinematic parameters of a hummingbird are used to estimate stability derivatives of the flapping-wing vehicle. The feasible region for the gain selection of our linear controller is finally obtained.