Two-DoF Controller Design for a six-DoF Flapping Wing Micro Aerial Vehicle

In the current work, a six degrees-of-freedom (DoF) time-invariant flapping wing micro aerial vehicle (FWMAV) model is adopted. The averaged model is linearized using the Jacobian technique for controller design purposes. To yield good trajectory tracking response, a state feedback controller (SF) is used for the sake of system stabilization. To consider the effect of the reference input without steady-state error, a two-DoF controller (2DoF) is designed. However, the system is not robust to any external disturbances. An integral two-DoF controller (2DoF_I) is proposed to accomplish robust performance against external disturbances. Simulations demonstrate the effectiveness of the proposed controller in attaining robust trajectory tracking.