Then, the insect flapping flight mimicking bee was regarded as rigid body moving in the sky, Based on its dynamic equation, hovering control was investigated by means of hierarchical control.
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将仿蜜蜂类昆虫扑翼视为空间运动刚体,在其动力学方程基础上,采用分层控制策略研究悬停控制问题。
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