  Controlling of a flapping flight is one of the recent research topics related
to the field of Flapping Wing Micro Air Vehicle (FW MAV). In this work, an
adaptive control system for a four-wing FW MAV is proposed, inspired by its
advanced features like quick flight, vertical take-off and landing, hovering,
and fast turn, and enhanced manoeuvrability. Sliding Mode Control (SMC) theory
has been used to develop the adaptation laws for the proposed adaptive fuzzy
controller. The SMC theory confirms the closed-loop stability of the
controller. The controller is utilized to control the altitude of the FW MAV,
that can adapt to environmental disturbances by tuning the antecedent and
consequent parameters of the fuzzy system.
