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The modeling and control design of a dragonfly-like flapping wing micro aerial vehicle (FWMAV) are studied in this paper. The aerodynamic force model of flapping wings is presented first, which is obtained by the local air velocity of the wing and local attack angle of the wing, unlike some existing works. Then, the complete mathematic model of FWMAV is developed by combining the aerodynamic force model and a kinematic model in which the micro aerial vehicle is regarded as a 6 degree-of-freedom rigid body.
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