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By Agneta Balint (Ed)

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Design Criteria, Aircraft Design, Fabrication and Testing of Sub-Canopy and Urban Micro-Aerial Vehicles,” AIAA/AHS International Powered Lift Conference, Alexandria, Virginia, Nov. 2000. , “Convertible Vertical Take-Off and Landing Miniature Aerial Vehicle,” US patent 6,502,787, 22 Feb. 2002. [46] Barrett, R. and P. Tiso, “PBP Adaptive Actuator Device and Embodiments,” International Patent Application number PCT/NL2005/000054, via TU Delft, 18 February 2005. , "Post-Buckled Precomprecompressed Piezoelectric Flight Control Acutator Design, Development and Demonstration," Journal of Smart Materials and Structures, Vol.

28] Barrett, R. , "Modeling, Design and Testing of a Barrel-Launched Adaptive Munition," proceedings of the 4" Annual SPIE Symposium on Smart Structures and Materials, San Diego, CA, 3-6 March 1997. , Niceville, Florida, 1993. [30] Hertlein, Robert and Mark Miner, “Extended Range Guided Munition (ERGM) Safe and Arm Device and Height-of-Burst Sensor,” paper presented at the NDIA Fuse Conference, 9 April 2993, New Orleans, LA. pdf [31] Pike, J. org, Alexandria, Virginia, October, 2002. htm). , “M732A2 Proximity Fuse and M782 Multi-Option Fuse for Artillery (MOFA) Data Sheets,” published by Alliant Techsystems, Inc.

33), we define the desired control U 0 as A3 Bˆ 3U 0 = −C 3Z3 − A3Fˆ3 − H 3 + X 3des , C 3 = C 3T > 0 (34) where Fˆ3 and Bˆ 3 are the estimates of the unknown nonlinear aerodynamic moment functions F3 and B3 , respectively. , the B3 matrix is square). If this is not the case, some form of control allocation would be required (Enns, 1998, Durham, 1993). The estimates are defined as ˆ , Bˆ = ΦT ( X ) Θ ˆ , for i = 1," , 3 Fˆ3 = ΦTF3 ( X ,U ) Θ F3 B3 B3 3i i (35) i ˆ and Θ ˆ are vectors with where ΦTF3 and ΦTB3 are the known regressor functions, Θ F3 B3i i unknown constant parameters, and Bˆ 3i represents the ith column of Bˆ 3 .

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