Based on the quasi-state aerodynamic force model

the paper deduced the aerodynamic force and moment approximate equations of an insect flapping flight mimicking bee

and developed kinematic functions of flapping wing.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.External control was position control

PD(proportion differentiation) controller was used for positions of Xand Y

switching controller was employed for position of Z;switching control strategy was also used for internal attitude control

and a set of kinematic parameters were selected for switching control.Finally

hovering control of the insect flapping flight mimicking bee was simulated.The result shows that the proposed control method is effective

when the insect flapping flight is disturbed and departs from balanced position

it can return near its balanced position by means of self-regulation.