Model-Reference Adaptive Flight Control of the 95-mg Bee++
Robotics
2026-05-12 v1 Systems and Control
Systems and Control
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.
Cite
@article{arxiv.2605.08525,
title = {Model-Reference Adaptive Flight Control of the 95-mg Bee++},
author = {Francisco M. F. R. Gonçalves and Conor K. Trygstad and Néstor O. Pérez-Arancibia},
journal= {arXiv preprint arXiv:2605.08525},
year = {2026}
}
Comments
Extended abstract to appear in the proceedings of the LSU Symposium on Control, Learning, and Intelligent Systems