Inherently stable descending flight of a tailless flapping wing micro air vehicle by upward wing elevation

Maneuverability of flapping wing fliers inevitably goes with inherent system instability. Inherent instability means that systems require a flight controller and these vehicles are prone to crashing. This work proposes design feature stabilize the descent aerial vehicle. The vehicle is based on KUlibrie, nano robot under development at KU Leuven. A computational study indicates upwardly elevated wings provide inherently stable descending flight. performs free starting from different initial conditions. dynamics display convergence towards limit cycle. Wing elevation center gravity position determine pitch roll stiffness respect vertical climb. same effects also destabilize climbing