Then, the insect flapping flight mimicking bee was regarded as rigid body moving in the sky, Based on its dynamic equation, hovering control was investigated by means of hierarchical control.

• 将仿蜜蜂类昆虫扑翼视为空间运动刚体，在其动力学方程基础上，采用分层控制策略研究悬停控制问题。