A geometric port-Hamiltonian modelling and simulation framework for morphing-wing UAVs

Development of a geometric port-Hamiltonian approach for modelling and simulating morphing-wing aerial robots and in particular flapping-wing robots. The thesis comprehends an 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. Overall, this thesis demonstrates some of the benefits of an energy-consistent geometric modelling and simulation methodology.