Trajectory Tracking Control and Vibration Control for a Rigid-Flexible Wing System

This paper mainly proposes control laws to address trajectory tracking and vibration suppression problems for a two-link rigid-flexible wing system. Based on Hamilton’s principle, partial differential equations (PDEs) and ordinary differential equations (ODEs) are proposed to describe the dynamical model of the wing. The boundary controllers are designed to restrain the deformations both in bending and twisting, and to achieve the trajectory tracking. We can accurately regulate the motion of the wing to track a desired spatiotemporally varying trajectory with the implement of trajectory tracking control and vibration control. In addition, the stability of this wing system is proven by utilizing Lyapunov’s direct method. Finally, we can verify that the designed controllers are effective according to the numerical simulations.