Flapping-wing robots typically include numerous nonlinear elements, such as nonlinear geometric and aerodynamic components. For an insect-sized flapping-wing micro air vehicle (FWMAV), we show that a linearized model is sufficient to predict system behavior with reasonable accuracy over a large operating range, not just locally around the linearization state. The theoretical model is verified against an identified model from a prototype robotic fly and implications for vehicle design are discussed.
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