微型扑翼飞行器的控制是一个难点问题,不仅对体积和重量有一定限制,还需要使飞行器能够有一定的鲁棒性和自主飞行能力。本文设计的控制系统通过遥控和自主飞行相结合的方式,很好的实现了对微型扑翼飞行器的控制。并进一步通过飞行实验验证了控制系统的可行性,飞行效果良好。 The control of miniature flapping-wing aircraft is a difficult issue, not only to limit the size and weight, but also to make the aircraft capable of certain robustness and autonomous flight capability. The control system designed in this paper through the remote control and autonomous flight combined with a very good realization of the micro flapping wing aircraft control. Furthermore, the feasibility of the control system is verified by flight experiments and the flight effect is good.