Fuzzy Adaptive Control for Bionics-Flapping Aircraft

This paper studies the fuzzy adaptive control problem for bionics-flapping aircraft with unknown disturbance. To establish the model of the bionics-flapping aircraft, four coordinate systems of ground, aircraft body, right wing, and velocity are used. By three rotations, the transformation matrix between the body coordinate system and the ground coordinate system is obtained, and the Lagrangian form of dynamic equations for the flapping wing aircraft system is given. Based on the approximation property of the fuzzy logic system, the unknown nonlinear function is processed and the fuzzy adaptive controller is designed for the plant. Eventually, the stability of the closed-loop system is proved by means of Lyapunov function theory.