Model Free Adaptive Pitch Control of a Flapping Wing Micro Aerial Vehicle with Input Saturation

In this paper, the dynamics of a flapping wing micro aerial vehicle is analyzed. Aiming at the difficulty of controller design caused by the nonlinearity, time-varying and strong coupling characteristics of the micro aerial vehicle, a full form dynamic linearization based model free adaptive control scheme (FFDL-MFAC) is presented to realize the pitch control of the controlled vehicle. In addition, a compensator is introduced to overcome the control input saturation caused by the limitation of the actuator. Simulation results are provided to demonstrate the effectiveness of the proposed MFAC.