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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 …
Online Estimation Of Unknown Parameters For Flexible Spacecraft, Nicolo Woodward
Online Estimation Of Unknown Parameters For Flexible Spacecraft, Nicolo Woodward
Doctoral Dissertations and Master's Theses
Attitude controls methods of highly flexible spacecraft have seen increased interest over the last decades thanks to the technological development of flexible solar panels and deploy-ables, which improves the capabilities of small satellites. However, a high-fidelity model of the flexible mode dynamics is hard to obtain in on-ground testing because not all modes of frequencies can be observed, complicating the controller design. Furthermore, plastic deformations due to long periods of storage of stowed flexible components could result in exciting frequencies outside of the designed controller’s bandwidth, leading to an uncontrollable system. This thesis proposes a method to develop a high-fidelity …