A MATLAB Multi-Body Simulation Platform Toward Multiple Flapping Wing Vehicles

The article notices rare simulation implementations of multiple flapping wing vehicles(FWVs) with the complicate mechanisms, aerodynamics, and control systems. Moreover, we expect that one can research FWV flight by CAD model import, joint connection, and parameter setup. Therefore, we establish a general and simple simulation platform framework based on MATLAB/Simulink with Simscape Multibody Toolbox for FWV mechanism, aerodynamics, and formation control for hovering or forward flight. Inspired by Purdue Hummingbird design, we provided simplified flapping wing aerodynamics with passive rotation, virtual environment interaction, adaptive cascade control, and consensus formation algorithms in the MATLAB integration platform. This work is fundamental for the verification of research, and useful for the improvement of mechanic design, actuator selection, and control algorithms of the ontology or swarm thanks to its compatibility.