2026
Suppressing Self-Excitation in Adaptive Sliding Mode Control: Observer-Based Design and Experimental Validation of Flapping-Wing Micro Aerial Vehicle
ICRA 2026poster
This work covers the design of a sliding mode control to stabilize the attitude of a flapping-wing micro aerial vehicle. The approach employs an auxiliary observer loop to avoid system excitation from unmodeled actuator dynamics, a common issue in sliding mode control applications. A proportional-in…