  Bats' dynamic morphing wings are known to be extremely high-dimensional, and
they employ the combination of inertial dynamics and aerodynamics manipulations
to showcase extremely agile maneuvers. Bats heavily rely on their highly
flexible wings and are capable of dynamically morphing their wings to adjust
aerodynamic and inertial forces applied to their wing and perform sharp banking
turns. There are technical hardware and control challenges in copying the
morphing wing flight capabilities of flying animals. This work is majorly
focused on the modeling and control aspects of stable, tail-less, morphing wing
flight. A classical control approach using bang-bang control is proposed to
stabilize a bio-inspired morphing wing robot called Aerobat. Robot-environment
interactions based on horseshoe vortex shedding and Wagner functions is derived
to realistically evaluate the feasibility of the bang-bang control, which is
then implemented on the robot in experiments to demonstrate first-time
closed-loop stable flights of Aerobat.
