Position tracking control method for miniature ornithopter capable of avoiding singular state

The invention provides a position tracking control method for a miniature ornithopter capable of avoiding singular state. The method comprises the following steps: 1) giving a Lagrange type kinetic equation for position control of the miniature ornithopter; 2) in combination with the Lagrange type kinetic equation of the miniature ornithopter given in the step 1), establishing a mathematical modelof position control related to time-varying matrix inversion operation; and 3) in combination with the step 2), designing a position controller capable of avoiding the time-varying matrix inversion problem in the step 2), designing a solver, and defining an error function to monitor the solving process in real time. The method skillfully avoids the time-varying matrix inversion operation in the algorithm solving process, and reduces the calculation complexity. 本发明提供了一种微型扑翼飞行器可避免奇异状态的位置跟踪控制方法，包括如下步骤：1)给出微型扑翼飞行器位置控制的拉格朗日型动力学方程；2)结合步骤1给出的微型扑翼飞行器的拉格朗日型动力学方程，建立涉及时变矩阵求逆运算的位置控制的数学模型；3)结合步骤2，设计可以避免S2中时变矩阵求逆问题的位置控制器，设计求解器并定义误