Model-Reference Adaptive Flight Control of the 95-mg Bee++

TL;DR

This paper presents a model-reference adaptive control system for precise flight control of a tiny insect-scale drone, validated through real-world flight experiments.

Contribution

It introduces a novel MRAC architecture specifically designed for insect-scale flapping-wing drones, demonstrating high-performance tracking.

Findings

Achieved high-precision positional tracking in real flight tests.

Validated the control approach with real-time experimental data.

Abstract

We introduce a model-reference adaptive control (MRAC) architecture for high-performance positional tracking of the Bee++, a 95-mg insect-scale flapping-wing aerial vehicle. The suitability, functionality, and high performance of the proposed approach are demonstrated using data from real-time flight experiments.