  The 3D flight control of a flapping wing robot is a very challenging problem.
The robot stabilizes and controls its pose through the aerodynamic forces
acting on the wing membrane which has complex dynamics and it is difficult to
develop a control method to interact with such a complex system. Bats, in
particular, are capable of performing highly agile aerial maneuvers such as
tight banking and bounding flight solely using their highly flexible wings. In
this work, we develop a control method for a bio-inspired bat robot, the
Aerobat, using small low-powered actuators to manipulate the flapping gait and
the resulting aerodynamic forces. We implemented a controller based on
collocation approach to track a desired roll and perform a banking maneuver to
be used in a trajectory tracking controller. This controller is implemented in
a simulation to show its performance and feasibility.
