Derivation of a Mathematical Model of Pitching Motion of a Servo-type Flapping Flight Robot

Abstract

In this study, we derive a mathematical model pitching motion of a servo-type flapping flight robot to achieve stable autonomous flight control of the robot. In particular, we focus on the pitching motion of the flapping robot and derive a mathematical model in the longitudinal direction (vertical plane). We linearize the mathematical model, design a linear controller, and confirm the effectiveness of the controller by simulation.