6.5 Evaluation

 When using the ARX simulation in Matlab, a linear approximation could not be

made on the maneuvers which were not centered around trim. Therefore, not only are

maneuvers around trim desired for a linear approximation, but they are also necessary

in order for the simulation to be done.

 It is particularly difficult to find maneuvers to use for a linear approximation for

this specific vehicle due to the fact that it is very hard to trim. Therefore, before most

maneuvers there is an indication in the data that there are some oscillations about the

roll axis. Similarly, the data indicates that several seconds after a maneuver has been

initiated, a component of yaw rate begins to develop.

 The build up of yaw rate after a morphing maneuver has been initiated can be

attributed to the fact that the shape of the wing is being altered. The wings on this

vehicle are being curled underneath, one at a time resulting in an asymmetric morphing

actuation. This leads to nonlinearities in the flight characteristics of the vehicle which

can explain the oscillations and the build up of yaw seconds after a maneuver has been

initiated.

 The modeling is a linear approximation of coefficients, and when considering

nonlinear behavior it might not provide data that can be trusted. The 24 in MAV is

morphed by twisting the wings symmetrically, which can be approximated as a linear

behavior. However, the 12 in MAV is being morphed asymmetrically, and therefore

requires further studies to obtain a better approximation of the model.