Robust hovering control of a single-DOF flapping wing MAV

We present in this note preliminary results on control design and stability analysis for robust control of ?apping wing Micro Aerial Vehicles (MAVs). The simple case considered in this paper, namely hovering control of a 1-DOF MAV model, is meant to illustrate some of the speci?c issues arising with the control of ?apping-wing MAV, which stem from the peculiar characteristics of the actuation mechanism. The main purpose of the paper is to set a rigorous framework in which results from averaging theory and stabilization by bounded feedback can be effectively combined.