Hybrid adaptive control of a dragonfly model

Dragonflies show unique and superior flight performances than most of other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness.In this paper, it is presented an adaptive scheme controlling a nonlinear model inspired in a dragonfly-like robot. It is proposed a hybrid adaptive (HA) law for adjusting the parameters analyzing the tracking error. At the current stage of the project it is considered essential the development of computational simulation models based in the dynamics to test whether strategies or algorithms of control, parts of the system (such as different wing configurations, tail) as well as the complete system. The performance analysis proves the superiority of the HA law over the direct adaptive (DA) method in terms of faster and improved tracking and parameter convergence.

► It is presented an adaptive scheme controlling a nonlinear model inspired in the dragonfly-like robot.
► It is proposed a hybrid adaptive law for adjusting the parameters combining adaptive fuzzy identification and adaptive fuzzy control.
► It is compared the performance of the direct and the hybrid adaptive fuzzy controller of the nonlinear model based on the dragonfly dynamics.
► The simulation results confirm the superiority of the hybrid adaptive law showing a fast tracking error convergence and parameter convergence.