A Review of Flapping Wing MAV Modelling

Flapping wing flight has been extensively studied in the field of entomology, resulting in observations on the methods of lift production, high manoeuvrability and efficient flight for various natural flyers in differing flow regimes and leading to significant developments in biomimetic theories regarding flapping wing MAVs. In addition, advances in aerodynamic modelling methods have given insight into the un-steady 3-dimensional flow that characterises typical flapping wing flight. Therefore, before attempting to model a flapping wing MAV and analyse its stability, it is beneficial to consider previous studies carried out. The paper examines hover capable flapping wing flight as presented in previous work. The kinematics and aerodynamics seen in nature and the resulting control methods are explored. The paper additionally looks at existing modelling methods used to study the aerodynamics and overall vehicle behaviour of a hypothetical MAV with an aim to introduce the terminology and specifics of MAV flight, as well as give a brief description of the work done to date in flapping wing modelling. The paper ends by examining methods used to analyse stability of flapping wing models and demonstrates the suitability of bifurcation and continuation methods in determining stability behaviour of flapping wing flight dynamics models.