This chapter summarizes the work presented within this book.
Flight dynamics models are needed for flapping-wing aircraft, so that the dynamics can be better understood and flight controllers can be designed to perform mission scenarios ranging from robust outdoor navigation to indoor agile flight and perching. This work contributes a nonlinear model of the flight dynamics, as well as an investigation into linearizing the model and the ramifications on control design.
Chapter 2 presented characterizations of an ornithopter flight test platform. The aircraft design and operation are first discussed. Then an experiment is presented where the ornithopter was fitted with a ...