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Smeur, E.J.J. (author), de Croon, G.C.H.E. (author), Chu, Q. P. (author)The authors regret to inform that an incorrect transfer function was included in Eq. (12). The correct transfer function is: [Formula Presented] The selected gains were [Formula Presented]. This leads to a real pole at 0.964 and two complex poles at 0.965 ± 0.0445i. The difference of the model compared to the measured step response has now...journal article 2023
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Huang, Y. (author), Zhang, Ye (author), Pool, D.M. (author), Stroosma, O. (author), Chu, Q. P. (author)Nonlinear dynamic inversion (NDI) is a nonlinear feedback linearization technique that has been widely applied to flight control systems [1,2]. Using state feedback and the inverted nonlinear system dynamics, NDI can significantly reduce controller development costs by avoiding gain scheduling and Jacobian linearization at a multitude of...journal article 2022
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Paul, Acquatella B. (author), van Kampen, E. (author), Chu, Q. P. (author)This paper presents a sampled-data form of the recently reformulated incremental nonlinear dynamic inversion (INDI) applied for robust spacecraft attitude control. INDI is a combined model- and sensor-based approach mostly applied for attitude control that only requires an accurate control effectiveness model and measurements of the state and...conference paper 2022
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Scholten, Pepijn A. (author), van Paassen, M.M. (author), Chu, Q. P. (author), Mulder, Max (author)A variable stability in-flight simulator has the capabilities to change the response of an aircraft in-flight, often without changing the physical properties of the aircraft. The ability to adjust the aircraft response characteristics and handling qualities has various purposes, such as pilot training, control system development, and handling...journal article 2020
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Sun, Sihao (author), Wang, Xuerui (author), Chu, Q. P. (author), de Visser, C.C. (author)In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (>8 m/s). The incremental nonlinear dynamic inversion approach which excels in handling model...journal article 2020
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Zhang, Y. (author), Huang, Y. (author), Chu, Q. P. (author), de Visser, C.C. (author)In this paper, an online flight envelope protection system is developed and implemented on impaired aircraft with structural damage. The whole protection system is designed to be a closed-loop of several sub-systems, including system identification, damage classification, flight-envelope prediction and fault-tolerant control. Based on the...conference paper 2020
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Acquatella Bustillo, P.J. (author), Chu, Q. P. (author)This paper presents an agile and robust spacecraft attitude tracking controller using the recently reformulated incremental nonlinear dynamic inversion (INDI). INDI is a combined model- and sensor-based control approach that only requires a control effectiveness model and measurements of the state and some of its derivatives, making a reduced...journal article 2020
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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (author), De Breuker, R. (author)This paper designs an incremental nonlinear dynamic inversion control law for free-flying flexible aircraft, which can regulate rigid-body motions, alleviate gust loads, reduce the wing root bending moment, and suppress elastic modes. By fully exploring the sensor measurements, the model dependency of the proposed control law can be reduced...journal article 2019
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Li, S. (author), de Wagter, C. (author), de Visser, C.C. (author), Chu, Q. P. (author), de Croon, G.C.H.E. (author)High-speed flight in GPS-denied environments is currently an important frontier in the research on autonomous flight of micro air vehicles. Autonomous drone races stimulate the advances in this area by representing a very challenging case with tight turns, texture-less floors, and dynamic spectators around the track. These properties hamper...journal article 2019
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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (author)For mitigating the chattering effect in the sliding mode control (SMC), many adaption mechanisms have been proposed to reduce the switching gains. However, less attention is paid to the control structure, which influences the resulting uncertainty term and determines the minimum possible gains. This paper compares three control structures for...conference paper 2019
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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (author)This paper proposes a novel control framework that combines the recently reformulated incremental nonlinear dynamic inversion with (higher-order) sliding-mode controllers/observers, for generic multi-input/multi-output nonlinear systems, named incremental sliding-mode control. As compared to the widely used approach that designs (higher-order...journal article 2019
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Wang, Xuerui (author), Sun, S. (author), van Kampen, E. (author), Chu, Q. P. (author)This paper proposes an Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers (INDI-SMC/SMDO), with application to a quadrotor fault tolerant control problem. By designing the SMC/SMDO based on the control structure of the sensor-based Incremental Nonlinear Dynamic Inversion (INDI), instead of the model-based Nonlinear...journal article 2019
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Keijzer, Twan (author), Looye, Gertjan (author), Chu, Q. P. (author), van Kampen, E. (author)This paper discusses the design, implementation and flight testing of an incremental Backstepping (IBS) based manual flight control law with angular accelerometer (AA) feedback. The main advantages of incremental control laws are that they only require a partial model of the system and are of low complexity. Incremental control laws for...conference paper 2019
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Kajak, K. M. (author), Karasek, M. (author), Chu, Q. P. (author), de Croon, G.C.H.E. (author)Recently, several insect- and hummingbird-inspired tailless flapping wing robots have been introduced. However, their flight dynamics, which are likely to be similar to that of their biological counterparts, remain yet to be fully understood. We propose a minimal dynamic model that is not only validated with experimental data, but also able...journal article 2019
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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (author), Lu, Peng (author)As a sensor-based control method, incremental nonlinear dynamic inversion (INDI) has been applied to various aerospace systems and has shown desirable robust performance against aerodynamic model uncertainties. However, its previous derivation based on the time scale separation principle has some limitations. There is also a need for stability...journal article 2019
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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (author)This paper proposes incremental nonsingular terminal sliding mode control for a class of multi-input and multi-output nonlinear systems considering model uncertainties, external disturbances, and sudden actuator faults. This method is free from singularity because it does not involve any negative fractional power. The convergence time in both...journal article 2019
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Huang, Y. (author), Pool, D.M. (author), Stroosma, O. (author), Chu, Q. P. (author)High precision motion control of hydraulic manipulators is challenging due to the highly nonlinear dynamics and model uncertainties typical for hydraulic actuators. This paper addresses the implementation of a novel sensor-based incremental nonlinear dynamic inversion control technique for a high-precision hydraulic force controller in existence...journal article 2019
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Mannucci, T. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)Self-learning approaches, such as reinforcement learning, offer new possibilities for autonomous control of uncertain or time-varying systems. However, exploring an unknown environment under limited prediction capabilities is a challenge for a learning agent. If the environment is dangerous, free exploration can result in physical damage or in...journal article 2018
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Smeur, E.J.J. (author), de Croon, G.C.H.E. (author), Chu, Q. P. (author)This paper presents the cascaded integration of Incremental Nonlinear Dynamic Inversion (INDI) for attitude control and INDI for position control of micro air vehicles. Significant improvements over a traditional Proportional Integral Derivative (PID) controller are demonstrated in an experiment where the quadrotor flies in and out of a 10 m...journal article 2018
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Goedhart, Menno (author), van Kampen, E. (author), Armanini, S.F. (author), de Visser, C.C. (author), Chu, Q. P. (author)Flight control of Flapping Wing Micro Air Vehicles is challenging, because of their complex dynamics and variability due to manufacturing inconsistencies. Machine Learning algorithms can be used to tackle these challenges. A Policy Gradient algorithm is used to tune the gains of a Proportional-Integral controller using Reinforcement Learning. A...conference paper 2018