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Book Chapter
Boddhu, Sanjay K., Botha, Hermanus V., Perseghetti, Ben M., Gallagher, John C..  2014.  Improved Control System for Analyzing and Validating Motion Controllers for Flapping Wing Vehicles. Robot Intelligence Technology and Applications 2: Results from the 2nd International Conference on Robot Intelligence Technology and Applications. :557–567.

In previous work, the viability of split-cycle constant-period frequency modulation for controlling two degrees of freedom of flapping wing micro air vehicle has been demonstrated. Though the proposed wing control system was made compact and self-sufficient to be deployed on the vehicle, it was not built for on-the-fly configurability of all the split-cycle control's parameters. Further the system had limited external communication capabilities that rendered it inappropriate for its integration into a higher level research framework to analyze and validate motion controllers in flapping vehicles. In this paper, an improved control system has been proposed that could addresses the on-the-fly configurability issue and provide an improved external communication capabilities, hence the wing control system could be seamlessly integrated in a research framework for analyzing and validating motion controllers for flapping wing vehicles.