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In this paper, we present a mathematical model of near-hover attitude dynamics and control in flapping flight. Then we apply this model to fruit fly (Drosophila) as an example. The attitude dynamics are derived from the complete 6-DOF equations of motion. Stability derivatives are estimated based on quasi-steady aerodynamic models of Flapping counter-torques (FCTs). Control derivatives are derived in a similar manner. Results show that stable angular motions can be achieved using a simple proportional feedback control. A coupled yaw and roll rotation (similar to a banked turn) is indentified as the most stable mode of angular motion. Additionally, free response results suggest that the fruit fly is able to damp out an initial disturbance of angular velocity.
American Control Conference (ACC), 2010
Date of Conference: June 30 2010-July 2 2010