Tailless control of a four-winged flapping-wing micro air vehicle with wing twist modulation.

This paper describes the tailless control system design of a flapping-wing micro air vehicle in a four-winged configuration, which can provide high control authority to be stable and agile in flight conditions from hovering to maneuvering flights. The tailless control system consists of variable flapping frequency and wing twist modulation. The variable flapping frequency creates rolling moments through differential vertical force from flapping mechanisms that can be independently driven on the left and right sides.