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Adaptive control strategies for button motor actuated insect scale flapping wing MAV mechanisms
Spoorthi Singh1,2, Meet Hitesh Jain1, Kanishk Kaushal3
1Department of Mechatronics, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka, 576104, India.
Scientific Reports
|August 5, 2025
Summary
This study introduces innovative designs and adaptive control for insect-scale flapping wing micro aerial vehicles (FWMAVs) using button vibrator motors. Advanced Self-Regulatory Fractional Fuzzy Control (SRFFC) enhances stability and maneuverability, outperforming traditional methods.
Area of Science:
- Robotics and Micro-systems Engineering
- Bio-inspired Engineering
- Control Systems Theory
Background:
- Flapping Wing Micro Aerial Vehicles (FWMAVs) offer energy-efficient, highly maneuverable flight, mimicking natural flyers.
- Insect-scale FWMAVs face challenges with compact actuators like button vibrator motors, impacting controlled motion and durability.
- Existing control strategies require enhancement to address mechanical constraints and environmental disturbances.
Purpose of the Study:
- To present innovative designs and adaptive control strategies for insect-scale FWMAVs.
- To evaluate the performance of Self-Regulatory Fractional Fuzzy Control (SRFFC) and Fractional PID (FPID) in FWMAV applications.
- To enhance FWMAV stability, power efficiency, and disturbance rejection using AI-based observers.
Main Methods:
- Utilized compact button vibrator motors and simplified crank-slider mechanisms for wing flapping actuation.
- Employed SIMSCAPE Multibody and Compmech GIM for detailed modeling and structural movement analysis.
- Assessed advanced control strategies (SRFFC, FPID) and an AI-based disturbance observer under simulated and real-world conditions.
Main Results:
- SRFFC demonstrated superior efficiency and disturbance rejection compared to FPID, evidenced by performance metrics like rise time, settling time, and IAE.
- AI-based disturbance observer enhanced stability and power efficiency by compensating for environmental factors.
- Experimental validation confirmed the effectiveness of SRFFC and modular motor configurations for FWMAV maneuvering.
Conclusions:
- SRFFC-driven designs and modular motor configurations significantly enhance FWMAV performance, control, and applicability.
- The proposed adaptive control strategies and AI-based disturbance observer offer a robust solution for micro-aerial systems.
- This research paves the way for advanced, nature-inspired micro-aerial vehicles with improved operational capabilities.
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