Hierarchical Control and Planning for Advanced Morphing Systems
This chapter discusses an integrated hierarchical approach to simultaneous planning and control for morphing dynamics. Research in the field of morphing structures has seen recent surge in interest, especially with the advent of smart structures (e.g. shape memory alloys) that have made realization of shape changing structures feasible. In addition, the ever increasing demands on a single structure to accomplish a variety of mission objectives (e.g. an aircraft required to conduct both bombing and reconnaissance) has led researchers to explore the field of morphing structures in greater detail (Rodriguez 2007; Grant et al. 2006; Hurtado 2006; Wickenheiser and Garcia 2004). Study of morphing dynamics is in general different from the study of dynamics of the object itself, and the two may be coupled with each other. For example, flight dynamics of an aircraft is traditionally described using a twelve dimensional state-space (six translational and six rotational). On the other hand, morphing dynamics of the same aircraft is described by differential equations that govern reconfiguration of the aircraft from one shape (mode of operation) to another. These equations could include dynamics associated with smart structures used to build the wings of the reconfigurable aircraft. The objective of morphing control ...