Command Shaping with Feedback Loop for Morphing Wings Control

This paper deals with the design and simulation verification of a SHAVO (SHAper+serVO) controller used for morphing wing control. The SHAVO control approach combines the advantages of forward command shaping and feedback control. The command shaping part based on the system model can quickly and efficiently eliminate residual vibrations, while the feedback part ensures stability and resistance to unmodeled model failures, deviations and external disturbances. The time length of this shaper can be set arbitrarily. The aircraft simulation model used for experiments has the fuselage and tail wings modelled as rigid bodies. The morphing wings are modelled using the aeroservoelastic model based on Euler - Bernoulli beam elements and simplified unstable aerodynamics.