Accurate Trajectory Tracking with MPCC for Flapping-Wing MAVs
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866913112460886016 |
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| author | Toumieh, Charbel Zeng, Jack Mistry, Niel Floreano, Dario |
| author_facet | Toumieh, Charbel Zeng, Jack Mistry, Niel Floreano, Dario |
| contents | Flapping-wing micro aerial vehicles offer quieter and safer operation than rotary-wing drones, yet achieving precise autonomous control of bird-scale ornithopters remains challenging: lift, airspeed, and turning authority are tightly coupled and governed by only a few control inputs. Conventional cascaded controllers treat altitude, speed, and heading independently, producing persistent tracking errors during complex maneuvers, while time-parameterized trajectory tracking requires predefined speed profiles that existing methods cannot robustly produce for these coupled dynamics. We address both limitations simultaneously with a Model Predictive Contouring Control (MPCC) approach that tracks arc-length-parameterized trajectories while optimizing progress online, eliminating the need for predefined timing. However, MPCC requires a dynamical model that captures the coupled aerodynamics without exceeding the computational budget of real-time nonlinear optimization. Here, we propose a compact, continuously differentiable model that captures the dominant couplings of bird-scale ornithopters, enabling real-time predictive control. We validated the method with the XFly ornithopter flying along circular and three-dimensional racing trajectories and achieved a mean deviation from the reference trajectory between 6.5 and 9 cm at speeds up to 3 m/s, which represents an almost 10-fold improvement over prior ornithopter control methods. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_06042 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Accurate Trajectory Tracking with MPCC for Flapping-Wing MAVs Toumieh, Charbel Zeng, Jack Mistry, Niel Floreano, Dario Robotics Flapping-wing micro aerial vehicles offer quieter and safer operation than rotary-wing drones, yet achieving precise autonomous control of bird-scale ornithopters remains challenging: lift, airspeed, and turning authority are tightly coupled and governed by only a few control inputs. Conventional cascaded controllers treat altitude, speed, and heading independently, producing persistent tracking errors during complex maneuvers, while time-parameterized trajectory tracking requires predefined speed profiles that existing methods cannot robustly produce for these coupled dynamics. We address both limitations simultaneously with a Model Predictive Contouring Control (MPCC) approach that tracks arc-length-parameterized trajectories while optimizing progress online, eliminating the need for predefined timing. However, MPCC requires a dynamical model that captures the coupled aerodynamics without exceeding the computational budget of real-time nonlinear optimization. Here, we propose a compact, continuously differentiable model that captures the dominant couplings of bird-scale ornithopters, enabling real-time predictive control. We validated the method with the XFly ornithopter flying along circular and three-dimensional racing trajectories and achieved a mean deviation from the reference trajectory between 6.5 and 9 cm at speeds up to 3 m/s, which represents an almost 10-fold improvement over prior ornithopter control methods. |
| title | Accurate Trajectory Tracking with MPCC for Flapping-Wing MAVs |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.06042 |