Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel

Torbjörn Cunis, Matej Karasek, Guido de Croon

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientific

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Flapping-wing MAVs represent an attractive alternative to conventional designs with rotary wings, since they promise a much higher efficiency in forward flight. However, further insight into the flapping-wing aerodynamics is still needed to get closer to the flight performance observed in natural fliers. Here we present the first step necessary to perform a flow visualization study of the air around the flapping wings of a DelFly II MAV in-flight: a precision position control of flight in a wind-tunnel. We propose a hierarchical control scheme implemented in the open-source Paparazzi UAV autopilot software. Using a decoupling, combined feed-forward and feed-back control approach as a core, we were able to achieve a precision of 2:5 cm for several seconds, which is much beyond the requirements for a time resolved stereo PIV technique.
Original languageEnglish
Title of host publicationProceedings of the International Micro Air Vehicles Conference and Competition 2016
Subtitle of host publicationBeijing, China
Number of pages8
Publication statusPublished - 2016
EventInternational Micro Air Vechicle Competition and Conference 2016 - Beijing, China
Duration: 17 Oct 201621 Oct 2016


ConferenceInternational Micro Air Vechicle Competition and Conference 2016
Abbreviated titleIMAV2016
Internet address


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