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<p>This study investigates the enhancement of landing stability in complex terrains via a multistage-wing ornithopter design and control framework. Conventional ornithopters suffer from constrained operational efficacy in unstructured environments, primarily due to inadequate mechanical adaptability and the absence of open-source control architectures. To address these limitations, we present a bio-inspired multistage-wing system synergized with a model-free adaptive PID controller. Aerodynamic analysis leverages quasi-steady (QS) modeling integrated with XFOIL-derived coefficient fitting, validated against wind-tunnel and turntable datasets to confirm predictive accuracy for lift and thrust under low-frequency, high-speed, and low-angle-of-attack operational regimes. Mechanically, the design employs flexible inner/outer wing deformation and a differential torsional mechanism to optimize maneuverability while mitigating system coupling. A model-free adaptive PID control strategy is implemented, contrasting the conventional model-dependent approaches. Static tests demonstrated rapid response dynamics (0.86&#xa0;s rise time), while vibration analyses quantified robustness improvements: 38.4% reduction in steady-state error and 18.0% decrease in peak control torque. By achieving biomimetic landing precision equivalent to avian locomotion, this work establishes a technological foundation for deploying ornithopters in mission-critical scenarios such as post-disaster rescue operations and military reconnaissance missions.</p>

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A Multistage-Wing Ornithopter with Landing Control System

  • 期刊论文

  • 发表日期：

    2025年6月5日

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  • Weize Zhang,
  • Mingyang Huang

摘要

This study investigates the enhancement of landing stability in complex terrains via a multistage-wing ornithopter design and control framework. Conventional ornithopters suffer from constrained operational efficacy in unstructured environments, primarily due to inadequate mechanical adaptability and the absence of open-source control architectures. To address these limitations, we present a bio-inspired multistage-wing system synergized with a model-free adaptive PID controller. Aerodynamic analysis leverages quasi-steady (QS) modeling integrated with XFOIL-derived coefficient fitting, validated against wind-tunnel and turntable datasets to confirm predictive accuracy for lift and thrust under low-frequency, high-speed, and low-angle-of-attack operational regimes. Mechanically, the design employs flexible inner/outer wing deformation and a differential torsional mechanism to optimize maneuverability while mitigating system coupling. A model-free adaptive PID control strategy is implemented, contrasting the conventional model-dependent approaches. Static tests demonstrated rapid response dynamics (0.86 s rise time), while vibration analyses quantified robustness improvements: 38.4% reduction in steady-state error and 18.0% decrease in peak control torque. By achieving biomimetic landing precision equivalent to avian locomotion, this work establishes a technological foundation for deploying ornithopters in mission-critical scenarios such as post-disaster rescue operations and military reconnaissance missions.