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System identification and linear time-invariant modeling of an insect-sized flapping-wing micro air vehicle

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3 Author(s)
Finio, B.M. ; Sch. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA ; Perez-Arancibia, N.O. ; Wood, R.J.

Flapping-wing robots typically include numerous nonlinear elements, such as nonlinear geometric and aerodynamic components. For an insect-sized flapping-wing micro air vehicle (FWMAV), we show that a linearized model is sufficient to predict system behavior with reasonable accuracy over a large operating range, not just locally around the linearization state. The theoretical model is verified against an identified model from a prototype robotic fly and implications for vehicle design are discussed.

Published in:

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Date of Conference:

25-30 Sept. 2011