Chart, page-7328

https://arc.aiaa.org/doi/pdf/10.2514/1.G004754

Full Flight Envelope and Trim Map of Flapping-Wing Micro Aerial Vehicles

Abstract
Controlling agile and complex air-vehicle maneuvers requires knowledge of the full flight envelope and dominant
modes of motion. This paper presents a comprehensive approach for determining the full flight envelope and trim
map of minimally actuated flapping-wing micro aerial vehicles that are capable of a broad range of coupled
longitudinal–lateral–directional aerobatic maneuvers. By this approach, a representative set of realizable set
points and trim conditions can be determined from the flight dynamic model, including asymmetric and unstable
maneuvers. Data-driven dynamic mode decomposition is used to identify and analyze the dominant modes of motion
both in simulations and physical experiments involving the RoboBee. The dominant eigenplanes and stability
characteristics of this flapping-wing robot are successfully validated experimentally for both stable and unstable
asymmetric full-envelope maneuvers, including rapidly uncontrolled tumbling.

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These things are awesome