Controllers for Disturbance Rejection for a Linear Input-Varying Class of Morphing Aircraft

Control of morphing aircraft is particularly difcult due to an inherent nonlinearity in the closed-loop equations of motion. This nonlinearity arises due to the dependence of the dynamics on the control input. The equations of motion for closed-loop dynamics will thus multiply a state-dependent matrix with the states which, consequently, will be a nonlinear function of the states. This paper introduces the linear input-varying framework to describe such systems. Essentially, this framework represents systems whose dynamics are linear when the input is constant but will vary as the input is varied. A pair of controllers are formulated for these types of systems to provide disturbance rejection. Several examples of span-varying morphing, chord-varying morphing, and camber-varying morphing are used to demonstrate the properties of the resulting closed-loop systems.

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