| 摘要 |
A wing-drive mechanism (103) is described that permits, with proper control, movement of a wing (101) about multiple wing trajectories. The wing-drive (103) is capable of independent movement about three rotational degrees of movement; movement about a flap axis is independent of movement about a yaw axis, and both are independent of changes in the pitch of the wing (101). Methods of controlling the wing-drive mechanism (103) to affect a desired wing trajectory include the use of a non-linear automated controller that generates input signals to the wing-drive mechanism (103) by comparing actual and desired wing trajectories in real time. Specification of wing trajectories is preferably also accomplished in real time using an automated trajectory specification system, which can include a fuzzy logic processor (404) or a neural network. A vehicle that derives controlled motion as a whole from the wing-drive mechanism (103) is also disclosed.
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