Wing trajectory control for flapping-wing microrobots using combined repetitive and minimum-variance adaptive methods

We discuss the design and implementation of a combined repetitive and minimum-variance adaptive control strategy for generating a-priori-specified desired periodic flapping trajectories of a flying microrobot´s wings. With this method and using a static force sensing experimental setup, relevant information about the forces produced by the wings´ flapping can be gathered. In turn, this information can be used for designing real-time controllers capable of enforcing desired trajectories on microrobotic insects in vertical flight and hovering.