Modeling and Simulation of 18-Degree-of-Freedom Flight Dynamics of a Dragonfly-Inspired Micro Aerial Vehicle Considering Quasi-Steady Aerodynamics

This study presents the dynamic modeling and simulation of an 18-degree-of-freedom (DOF) dragonfly-inspired micro aerial vehicle (MAV) with rigid wings, incorporating a quasi-steady aerodynamic framework. The model is developed using a multi-body dynamics approach, in which the central body accounts for six DOFs and each of the four wings contributes three DOFs, capturing both translational and rotational motions. The full set of coupled nonlinear equations of motion is derived via the Newton–Euler method for the body and rigid wings, considering internal force and torque interactions among all components. Unsteady aerodynamic mechanisms—namely delayed stall, rotational lift, and added mass inertia—are integrated into the quasi-steady model to capture the dominant lift- and thrust-producing phenomena observed in flapping-wing flight. Empirical formulations, calibrated from prior insect flight experiments, are employed to determine aerodynamic force coefficients, which are then validated through dedicated experimental measurements. The resulting model enables accurate nonlinear simulation of both hovering flight and turning maneuvers, modes in which dragonflies achieve exceptional stability and agility through coordinated forewing–hindwing interactions. The aerodynamic coefficients and force profiles extracted from experiments are incorporated into the simulation to evaluate performance, with results showing strong agreement between predicted and measured aerodynamic loads. This consistency confirms the physical plausibility and predictive capability of the proposed framework. The novelty of this research lies in the integration of a detailed multi-body dynamics formulation with biologically inspired quasi-steady aerodynamics, producing a unified and experimentally validated model suitable for both dynamic analysis and control design. Beyond replicating key aerodynamic effects, the model provides a flexible tool for exploring the influence of wing kinematics, body–wing interaction forces, and aerodynamic parameters on overall flight performance. Such a framework serves as a robust foundation for future studies on stability augmentation, maneuvering control strategies, and the design optimization of bio-inspired MAVs. Ultimately, this work contributes to a deeper understanding of flapping-wing flight mechanics and offers practical insights for the development of high-agility, hover and turn-capable aerial systems.