Insect-scale micro-aerial vehicles, especially lightweight, flapping-wing robots, are becoming increasingly important for safe motion sensing in spatially constrained environments such as living spaces. However, yaw control using flapping wings is fundamentally more difficult than using rotating wings. In this study, an insect-scale, tailless robot with four paired tilted flapping wings (weighing 1.52 g) was fabricated to enable simultaneous control of four states, including yaw angle. The controllability Gramian was derived to quantify the controllability of the fabricated configuration and to evaluate the effects of the tilted-wing geometry on other control axes. This robot benefits from the simplicity of directly driven piezoelectric actuators without transmission, and lift control is achieved simply by changing the voltage amplitude. However, misalignment or modeling errors in lift force can cause offsets. Therefore, an adaptive controller was designed to compensate for such offsets. Numerical experiments confirm that the proposed controller outperforms a conventional linear quadratic integral controller under unknown offset conditions. Finally, in a tethered and controlled flight experiment, yaw drift was suppressed by combining the tilted-wing arrangement with the proposed controller.

翻译：昆虫尺度微型飞行器，特别是轻量化拍翅机器人，在居住空间等空间受限环境中对安全运动感知的需求日益重要。然而，利用拍翅实现偏航控制本质上比旋翼更具挑战性。本研究制造了一种配备四组倾斜拍翅（重1.52克）的昆虫尺度无尾机器人，可同步控制包括偏航角在内的四个状态量。通过推导可控性格拉姆矩阵量化该构型的可控性，并评估倾斜翼几何参数对其他控制轴的影响。该机器人得益于无传动机构的直驱压电执行器之简洁性，仅通过改变电压幅值即可实现升力控制。但升力的校准偏差或建模误差可能导致偏移，为此设计了自适应控制器补偿此类偏差。数值实验表明，在未知偏移条件下，所提控制器优于传统线性二次型积分控制器。最后，在系留受控飞行实验中，通过融合倾斜翼布局与所提控制器成功抑制了偏航漂移。