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A fast terminal fuzzy sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a fast terminal sliding mode controller is designed. To diminish the chattering in the control input, a fuzzy controller is designed to adjust the generalized gain of fast terminal fuzzy sliding mode controller according to fast terminal sliding mode surface. The stability of the control algorithm is verified by using Lyapunov theory. Simulation results show that the proposed control scheme is effective.

The dynamic optimization of a main drive system in a W-type compressor with friction of joints are studied by ADAMS , a special software for dynamical simulation. First the dynamical simulating model for the system is built considering joint friction in ADAMS . The dynamic response of the crankshaft journal center and dynamic reacting forces of the two rolling bearings are obtained on rated operating condition. Also the average value of the mechanical efficiency of reciprocating compressor was revealed .Then the mathematical model for dynamic optimization is presented, its objective function is mechanical efficiency of reciprocating compressor,and the design variable are the angle of cylinder lines and the rotation speed of crankshaft.The parametric simulating model is constructed in ADAMS to search the optimum solution.The relation between the design variable and objective value is disclosed through 'DOE' ,which is a function module in the design evaluation tools of ADAMS. Numerical results are available for the dynamic design of reciprocating compressor.