Vertical Dynamics Flapping-Wing Robot Wind Disturbance

This code simulates the wind disturbance on a flapping-wing flying robot, modeled with height and pitch angle as generalized coordinates.

The code is related to the article:

E. Capobianco, A. Gonzalez-Morgado, S. R. Nekoo and A. Ollero, "Vertical Dynamics of Flapping-Wing Flying Robot Facing Wind Disturbance: State-Dependent Riccati Equation and Equivalent Dynamics," 2025 International Conference on Unmanned Aircraft Systems (ICUAS), Charlotte, NC, USA, 2025, pp. 1064-1070, doi: 10.1109/ICUAS65942.2025.11007896.

Download it: https://doi.org/10.1109/ICUAS65942.2025.11007896

The code models and simulates the forward flight of a flapping wing robot in height and pitch angle control, facing wind disturbance. The model is nonlinear, and the state-dependent Riccati equation method is used to regulate the system to the equilibrium point. The modeling adopts the cruise flight model of fixed-wing aircraft, then incorporates the flapping wing effects using base excitation.