推力偏向を用いた羽ばたき型UAVの開発と飛行姿勢制御

抄録

We have developed a flapping UAV equipped with a thrust vectoring mechanism that controls the flight attitude by deflecting the flapping thrust by tilting the left and right wings independently around the Pitch axis. The developed aircraft is capable of controlling the flight attitude of the three axes of Pitch, Roll, and Yaw, and potentially has abilities to perform various flights such as sharp turns and rotations. The hovering flight has been successfully stabilized by developing PID controller for the Pitch and Roll control.