A six-degree-of-freedom proportional-derivative control strategy for bumblebee flight stabilization

Flying insects perform active flight control with flapping wings by continuously adjusting their wing kinematics in stabilizing the body posture to stay aloft under complex natural environment. While Proportional Derivative (PD) / Integral (PID)-based algorithms have been applied examine specific single degree of freedom (DoF) and/or 3 DoF associated insect flights, a full 6 strategy remains yet poorly studied. Here we propose novel PD controller specified for stabilization which proportional and derivative gains are optimized facilitate fast while precise combing Laplace transformation root locus method. The vertical position, yaw, pitch roll directly stabilized tuning forward/backward position lateral indirectly controlling roll, respectively. Coupled recently developed dynamic model informed high-fidelity CFD simulation (Cai et al. 2021), this methodology is proven be effective as versatile efficient tool achieve both small large perturbations bumblebee hovering. proposed may provide useful bioinspired flight-controller design flapping-wing micro air vehicles (FWMAVs).