SUMMARY
A configurable multi-segment morphing system for a micro air vehicle (MAV) is presented in this study. One of the novelties is the development of an adaptive control allocation algorithm that provides fast, simultaneous and independent operation of four morphing segments using shape memory alloy (SMA) actuators. The SMA operation is time-staggered in microsecond resolution to ensure that only one SMA draws power from the MAV battery at a time. The other novelties are the in-flight measurement of morphing angle using dual flex-sensors and morphing of leading edges such that the ‘morphing-line’ is diagonal (45º) to the MAV’s lateral axis. The system was implemented on an open source autopilot controller and operated using the MAV battery. It was ground-tested under propeller ON conditions and a droop rate of 35º/s and ability to track a 1 Hz sinusoidal variation of droop angle were realised.