Dynamics and stability of Bat-Scale Flapping Wing Hovering Robot

In this paper a discrete feedback controller with limited update sensing frequency is designed for a system with constrained control inputs. Since hovering orbits are generally unstable, finding the periodic trajectory can converge to an undesirable behavior. Therefore, multiple shooting technique is used to converge to the desired orbit. The results showed that updating the feedback controller once per wingbeat cycle is enough to stabilize even dynamically challenging systems.