The Timing in the Control of Insect Flight Instability

Flapping flight of insects is intrinsically unstable. Using 3D dynamic simulation of flapping flight, we analyze the stability of periodic states associated with the limit cycles of the dynamical system. We construct a discrete time-delayed linear controller and examine the controllability condition. The controller's effectiveness depends in a subtle manner on the timing of the sensory measurement combined with the delay time in actuation.