Resumen
We present a method for generating feedback and controlling multi-coil linear electromagnetic actuators for flapping wing systems. This has been achieved with a system capable of self-lifting, constructed using 3D-printed structures and miniaturised electromagnetic actuators with a combined weight of 3.07 g. Combining multiple magnets and coils into a single actuator with onboard feedback sensors has improved power densities upon existing linear electromagnetic systems present in the literature. The use of closed-loop control of the dynamics of the flapping profile allows for independent control of both flapping frequency and amplitude, which is differentiated from open-loop and resonance-based systems. This change will allow relatively precise control over the flapping dynamics of future systems while improving actuation efficiency.