Development and flight performance of a biologically-inspired tailless flapping-wing micro air vehicle with wing stroke plane modulation.

The tailless flapping-wing micro air vehicle (FW-MAV) is one of the most challenging problems in flapping-wing design due to its lack of tail for inherent flight stability. It must be designed in such a way that it can produce proper augmented control moments modulated by a closed-loop attitude controller for active stabilization. We propose a tailless FW-MAV with a wing stroke plane modulation mechanism, namely NUS-Roboticbird, which maneuvers by only using its flapping wings for both propulsion and attitude control. The flying vehicle has four wings comprised by two pairs, and each pair of wings and its stroke plane are driven by a motor and a servo, respectively. Attitude control moments of roll, pitch and yaw are generated by vectoring a pair of thrusts, which result from changing the flapping frequency (or motor speed) and wing stroke plane of the two pairs of wings. Free-flight tests show that the vehicle can climb and descend vertically (throttle control), fly sideways left and right (roll control), fly forwards and backwards (pitch control), rotate clockwise and counter-clockwise (yaw control), hover in mid-air (active self-stabilization), and maneuver in the figure-of-8 and fast forward/backward flight. These abilities are especially important for surveillance and autonomous flight in terms of obstacle avoidance in an indoor environment. Flight test data show that an effective mechanical control mechanism and control gains for attitude-controlled flights for roll, pitch and yaw are achieved, in particular, yaw control. Currently, the vehicle weighing 31 g and having a wingspan of 22 cm can perform fast forward flight at a speed of about 5 m s-1 (18 km h-1) and endure 3.5 min in flight with a useful payload of a 4.5 g onboard camera for surveillance.