Bumblebee flight stabilization using discrete control Lyapunov function-based controller in reinforcement learning environment

doi:10.1016/j.cnsns.2026.109839

Bumblebee flight stabilization using discrete control Lyapunov function-based controller in reinforcement learning environment

2026-02-17

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DOI：10.1016/j.cnsns.2026.109839

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• A discrete Control Lyapunov Function (DCLF) controller with Levenberg-Marquardt updates is developed for bumblebee-like MAVs flight stabilization. • The DCLF controller expands the domain of attraction well beyond the limits of a linear controller. • The hybrid DCLF model stabilizes flight under vertical gusts exceeding 60% of body weight. • A reproducible RL-compatible environment for insect-scale MAVs in unsteady flow is presented.

Keywords:

Discrete Control Lyapunov Function

MAVs flight stabilization

Reinforcement Learning

Unsteady flow

Bumblebee-like robots

Bumblebee flight stabilization using discrete control Lyapunov function-based controller in reinforcement learning environment

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