Dynamics Modeling of a Rigid–Flexible Coupled Flapping-Wing Robot and Diffeomorphism-Based Disturbance Rejection Attitude-Constrained Control

Lightweight flapping-wing robots are affected by structural flexibility, wind disturbances, and static friction in basal passive joints during perching and attitude-holding tasks. These coupled effects can make conventional PID and sliding mode control (SMC) produce error amplification, torque fluctuation, flexible-response excitation, and attitude-boundary violation. This study establishes an ADAMS–Simulink co-simulation platform for a rigid–flexible coupled flapping-wing robot and proposes a diffeomorphism-based attitude-constrained controller. The inverse hyperbolic tangent mapping transforms bounded physical errors into unbounded virtual errors, allowing smooth small-error regulation and stronger constraint enforcement near safety boundaries. Wind-free tracking, compound wind rejection, pulse wind scanning, mapping-parameter sensitivity, and a CBF-QP safety-filtered baseline are evaluated. In manuscript parameter-synchronized ADAMS 2024 reruns under a 2 m/s steady wind with a 1 m/s pulse, PID and SMC show runaway angular excursions of 1602.56° and 381,330.03°, whereas the proposed method remains bounded at 23.58° with an RMSE of 2.943° and no boundary violation. The CBF-QP baseline still violates the boundary at 1394°. The results show improved tracking accuracy, boundary protection, measured-channel flexible-excitation attenuation, and stable disturbance recovery.