Patent Document ID: 20010019088
Application ID: 09793333
Patent Flag: 0

Claim One:
1. A wing-drive mechanism for a vehicle having a fuselage, comprising a) a drive wing having an adjustable pitch relative to said fuselage and being moveable relative to said fuselage about yaw and flap axes; b) a first axis drive mechanism for moving said drive wing about said flap axis in response to a first movement input signal, c) a second axis drive mechanism for moving said drive wing about said yaw axis in response to a second movement input signal, wherein said second axis drive mechanism operates independently of said first axis drive mechanism and d) a third axis drive mechanism for adjusting the pitch of said drive wing in response to a third movement input signal, wherein said third axis drive mechanism operates independently of said first and second axis drive mechanisms, wherein said first, second and third movement input signals are generated by a controller that calculates said first, second and third movement input signals in real time using a controlling function that relates a desired drive wing trajectory and an actual drive wing trajectory to torques to be applied by each of said first, second and third axis drive mechanisms.