Design and Control of Micro Flapping Wing Aircraft

In this paper, we propose the mechanical hardware fabrication method and control method for flapping wing micro aerial vehicle (FWMAV). Due to the light weight and small size of the FWMAV, its mechanical structure dynamics design is more complicated. The flapping wing will produce violent vibration during the flight process, how to design the hardware structure to ensure that the FWMAV is light weight and at the same time obtains a large lift, as well as the design of the controller to realize the stability of the control is also a major challenge in this field. We designed a FWMAV with a mass of 25 g. In the design, we focused on the design of its wing drive structure, including the shape of the wing and the choice of material, to ensure that the mass is light and at the same time obtain a relatively large lift. For the attitude control, an improved Active Disturbance Rejection Control (ADRC) control algorithm is used, which has better anti-interference capability than the traditional PID control and solves the control hysteresis problem.