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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 …
Design And Flight-Path Simulation Of A Dynamic-Soaring Uav, Gladston Joseph
Design And Flight-Path Simulation Of A Dynamic-Soaring Uav, Gladston Joseph
Doctoral Dissertations and Master's Theses
We address the development of a dynamic-soaring capable unmanned aerial vehicle (UAV) optimized for long-duration flight with no on-board power consumption. The UAV’s aerodynamic properties are captured with the integration of variable fidelity aerodynamic analyses. In addition to this, a 6 degree-of-freedom flight simulation environment is designed to include the effects of atmospheric wind conditions. A simple flight control system aids in the development of the dynamic soaring maneuver. A modular design paradigm is adopted for the aircraft dynamics model, which makes it conducive to use the same environment to simulate other aircraft models. Multiple wind-shear models are synthesized to …