Joint extension speed dictates bio-inspired morphing trajectories for optimal longitudinal flight dynamics

Area of Science:

• Robotics
• Biomechanics
• Aerospace Engineering

Background:

• Avian wing morphing facilitates dynamic flight control.
• Existing models (linear time-invariant) lack insight into time-dependent morphing effects.

Purpose of the Study:

• To develop and utilize a linear parameter-varying (LPV) model for morphing wing gull flight.
• To investigate the longitudinal flight response to varying joint extension trajectories.

Main Methods:

• Implemented an LPV model, treating wing joint angles as scheduled parameters.
• Accounted for nonlinear kinematics and gravitational effects.
• Interpolated between linear time-invariant models at discrete trim points.

Main Results:

• Optimized extension trajectories for speed and pitch control objectives revealed suboptimal natural gull wing morphing.
• The inherent gull wing trajectory offers sufficient response with simpler mechanics.
• Gulls likely require extension speed feedback for enhanced control.

Conclusions:

• The developed morphing LPV model offers insights into avian flight control mechanisms.
• This research may inform the design of highly maneuverable, avian-like uncrewed aerial vehicles.