Development of a geometric port-Hamiltonian approach for modelling and simulating morphing-wing aerial robots and, in particular flapping-wing robots.
The thesis comprehends initial research on the state of the art of the varied morphing-wing aerial robots, followed by the description of the elements that constitute the base of the modelling and simulation framework and finalizing with a demonstration of the use cases by simulating several morphing-wing literature models.
This thesis demonstrates some benefits of an energy-consistent geometric modelling and simulation methodology.