# Dynamics and Control of a Flapping Wing UAV with Abdomen Undulation Inspired by Monarch Butterfly

arXiv: https://arxiv.org/abs/2102.07851 · HTML: https://mlsanity.com/paper/2102.07851/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Feb 2021.

## Built on by (most cited first, 1 of 1)

- [Constrained Imitation Learning for a Flapping Wing Unmanned Aerial Vehicle](https://mlsanity.com/paper/2206.03987/) (2022)

## Abstract (arXiv)

This paper presents a dynamic model and a control system for a flapping-wing unmanned aerial vehicle. Inspired by flight characteristics captured from live Monarch butterflies, a new dynamic model is presented to account the effects of low-frequency flapping and abdomen undulation. We developed it according to Lagrangian mechanics on a Lie group to obtain an elegant, global formulation of dynamics. Then, a feedback control system is presented to asymptotically stabilize periodic motions with active motion of abdomen, and its stability is verified according to Floquet theory. In particular, it is illustrated that the abdomen undulation has the desirable effects of reducing the variation of the total energy and also improving the stability of the proposed control system.