Research on Altitude Control of Flapping-Wing Aircraft Based on Nonlinear Backstepping Method

This paper investigates the height control problem of flapping-wing aerial vehicles using the nonlinear backstepping method. The flapping-wing aerial vehicle, characterized by complex nonlinear dynamics, poses a challenging issue in terms of height control. To overcome the limitations of traditional control methods in terms of accuracy and robustness, this study proposes a control scheme based on the nonlinear backstepping method. Firstly, by establishing the height dynamics model of the flapping-wing aerial vehicle[4] and considering factors such as its mass, air resistance, and external environment, the nonlinear dynamic equations of the system are derived. Subsequently, utilizing the nonlinear backstepping method, a height controller is designed by performing variable transformations and introducing Lyapunov functions to reformulate the nonlinear dynamic equations into an appropriate form. Furthermore, numerical simulation experiments are conducted using MATLAB to compare the proposed control scheme with traditional PID control, providing validation for the superiority of the proposed approach[5]. The results demonstrate that the height controller based on the nonlinear backstepping method achieves accurate control of the flapping-wing aerial vehicle under different operating conditions while exhibiting robustness and disturbance rejection capabilities [4] [5]. In conclusion, the proposed height control scheme based on the nonlinear backstepping method exhibits excellent control performance and robustness for flapping-wing aerial vehicles. This research provides valuable references and guidelines for further improving the flight performance and promoting the application of flapping-wing aerial vehicles[6].