In this study, the dynamic stability of a two-wing flapping-wing micro air vehicle (FWMAV) in hovering flight is comprehensively analyzed. The analysis focuses on the roll and pitch dynamics using a linearized dynamic model based on rigid-body mechanics and quasi-steady aerodynamic force estimation. Stability derivatives, including the effects of lateral velocity, angular rates, and orientation, are computed numerically using a central difference scheme around the equilibrium state.

The key innovation of this research lies in the quantitative and analytical investigation of how the vertical position of the wings relative to the center of gravity (zw) affects the system’s stability characteristics, including the behavior of stability derivatives and the location of closed-loop poles. This parameter has not been thoroughly or independently explored in previous studies, and the findings presented here can serve as a practical guideline in the mechanical design of tailless FWMAVs.

Furthermore, a linear control algorithm based on angular rate feedback is proposed for stabilizing the roll and pitch dynamics. Simulation results demonstrate that within a certain range of wing positions, the system can be effectively stabilized with relatively simple control laws. The study concludes that optimal wing placement can enhance overall system stability, reduce sensitivity, and simplify the control strategy, offering valuable insights for the design of next-generation bio-inspired micro air vehicles intended for operation in constrained environments.