MPCC using arc-length parameterization and a compact coupled-dynamics model enables precise trajectory tracking for bird-scale ornithopters without predefined speed profiles.
Untethered flight of an insect-sized flapping-wing microscale aerial vehicle
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Accurate Trajectory Tracking with MPCC for Flapping-Wing MAVs
MPCC using arc-length parameterization and a compact coupled-dynamics model enables precise trajectory tracking for bird-scale ornithopters without predefined speed profiles.