Model identification for a flapping-wing robot based on improved squirrel search algorithm

doi:10.1016/j.isatra.2025.10.009

Model identification for a flapping-wing robot based on improved squirrel search algorithm

2025-10-09

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DOI：10.1016/j.isatra.2025.10.009

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• A system identification method for flapping-wing robots modeling is proposed. • A unique design method for a flapping-wing coordinate system is proposed to transform the impact of flapping-wing motion into the body coordinate system, thereby improving the accuracy of the model structure. • During the modeling process, flapping-wing angle variables are introduced to construct a time-varying kinematic model of the flapping-wing robot. • Three nonlinear control strategies are introduced into the optimization algorithm to improve parameter identification accuracy and convergence speed. • Three flapping-wing robot maneuvers are designed to verify the generalization ability and model accuracy of the identification model.

Model identification for a flapping-wing robot based on improved squirrel search algorithm

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