Longitudinal mode model-based controller design for tailless flapping wing robot with loop shaping compensator.

In this study, the stable proportional-derivative (PD) controller gains for pitch control (longitudinal control) are obtained using the linearized and non-coupled longitudinal-mode flight dynamics model of the tailless, hover-capable, flapping wing robot named KUBeetle. To acquire a more realistic longitudinal model of KUBeetle, we incorporated the dynamics of the sensors, filters, and servo. Then, the range of PD controller gains that yield stable and sufficient stability robustness are determined using the Routh-Hurwitz, root locus, and H norm stability analyses.