Science Daily  May 23, 2023 A team of researchers in the US (UCLA, industries, Washington State University) has developed a an insect-scale flying robot, Bee ++, driven by four independently actuated flapping wings using new method for synthesizing and implementing high-performance six-degree-of-freedom (6 -DOF) flight controllers. Each wing of the Bee ++ was installed with a preset orientation enabling reliable roll, pitch, and yaw torque generation, and a Lyapunov-based nonlinear control architecture that enabled closed-loop position and attitude regulation and tracking. The control algorithms stabilize position and attitude by independently varying the wing stroke amplitudes of the four flapping wings. […]