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Full-Text Articles in Aerospace Engineering
Verification And Validation Of Robot Manipulator Adaptive Control With Actuator Deficiency, Sebastian Comeaux
Verification And Validation Of Robot Manipulator Adaptive Control With Actuator Deficiency, Sebastian Comeaux
Doctoral Dissertations and Master's Theses
This work addresses the joint tracking problem of robotic manipulators with uncertain dynamical parameters and actuator deficiencies, in the form of an uncertain control effectiveness matrix, through adaptive control design, simulation, and experimentation. Specifically, two novel adaptive controller formulations are implemented and tested via simulation and experimentation. The proposed adaptive control formulations are designed to compensate for uncertainties in the dynamical system parameters as well as uncertainties in the control effectiveness matrix that pre-multiplies the control input. The uncertainty compensation of the dynamical parameters is achieved via the use of the desired model compensation–based adaptation, while the uncertainties related to …
A Simulation Of The Impacts Of Climate Change On Civil Aircraft Takeoff Performance, Thomas D. Pellegrin
A Simulation Of The Impacts Of Climate Change On Civil Aircraft Takeoff Performance, Thomas D. Pellegrin
Doctoral Dissertations and Master's Theses
Climate change affects the near-surface environmental conditions that prevail at airports worldwide. Among these, air density and headwind speed are major determinants of takeoff performance, and their sensitivity to global warming carries potential operational and economic implications for the commercial air transport industry. Previous archival and prospective research observed a weakening in headwind strength and predicted an increase in near-surface temperatures, respectively, resulting in an increase in takeoff distances and weight restrictions. The main purpose of the present study was to update and generalize the extant prospective research using a more representative sample of worldwide airports, a wider range of …