This paper proposes a Bidirectional Fuzzy Brain Emotional Learning (BFBEL) control system to control Aerial Robots. The proposed controller is based on the emotional and logical processing of the brain. The proposed control system merges fuzzy inference and a bidirectional brain emotional learning algorithm. The Bidirectional Fuzzy Brain Emotional Learning (BFBEL) control can learn from scratch and adapt rapidly in real-time to control the system without much prior information. The proposed controller is tested against simulations of both a 1-Degree-Of-Freedom (DOF) flapping wing and a 6DOF flapping wing model and successfully implemented on a 1DOF flapping wing experiment which showcases the learning and adaptation capability in a real-time environment.