Document Type : Scientific extension


1 M.Sc. Student. Control Group, Electrical Engineering Department, Iran University of Science and Technology. Tehran, Iran.

2 Assistant Professor. Control Group, Electrical Engineering Department, Iran University of Science and Technology. Tehran.Iran.


Flapping drones have been the focus of attention for various reasons, such as the ability to fly scilently at low speeds and also high maneuverability. This article describes the history of flapping robots and their importance in engineering and how to obtain the forces required to fly. Then, by examining different aspects and presenting the equations, a suitable model is proposed to achieve the control objectives. Due to the kinematic and dynamic complexity, the obtained model is non-linear and periodic. The stability of the robot, which has been often investigated through the averaging and Floquet theory, is also described. In order to stabilize the robot, useful methods presented taking into account the possible challenges in controlling the altitude and attitude. Considering the weight limitations of the robot, selection of electronic components was also considered as a challenge. ‌‌


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