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This paper deals with the simultaneous gust and maneuver load alleviationproblem of a seamless active morphing wing. The incremental nonlinear dynamicinversion with quadratic programming control allocation and virtual shapefunctions (denoted as INDI-QP-V) is proposed to fulfill this goal. The designedcontrol allocator provides an optimal solution while satisfying actuatorposition constraints, rate constraints, and relative position constraints.Virtual shape functions ensure the smoothness of the morphing wing at everymoment. In the presence of model uncertainties, external disturbances, andcontrol allocation errors, the closed-loop stability is guaranteed in theLyapunov sense. Wind tunnel tests demonstrate that INDI-QP-V can make theseamless wing morph actively to resist ``1-cos'' gusts and modify the spanwiselift distribution at the same time. The wing root shear force and bendingmoment have been alleviated by more than 44% despite unexpected actuator faultand nonlinear backlash. Moreover, during the experiment, all the inputconstraints were satisfied, the wing shape was smooth all the time, and thecontrol law was executed in real time. Furthermore, as compared to the linearquadratic Gaussian (LQG) control, the hardware implementation of INDI-QP-V iseasier; the robust performance of INDI-QP-V is also superior.

Seamless Active Morphing Wing Simultaneous Gust and Maneuver Load Alleviation