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Wang, X. (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, X. (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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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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Wang, X. (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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Mannucci, T. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. (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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Goedhart, Menno (author), van Kampen, E. (author), Armanini, S.F. (author), de Visser, C.C. (author), Chu, Q. (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
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Wang, X. (author), van Kampen, E. (author), Chu, Q. (author), Lu, P (author)
As a sensor-based control approach, the Incremental Nonlinear Dynamic Inversion (INDI) method has been successfully applied on various aerospace systems and shown desirable robust performance to aerodynamic model uncertainties. However, its previous derivations based on the so-called time scale separation principle is not mathematically rigorous...
conference paper 2018
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Grondman, Fabian (author), Looye, Gertjan H.N. (author), Kuchar, Richard O. (author), Chu, Q. (author), van Kampen, E. (author)
This paper describes the design, implementation and flight testing of flight control laws based on Incremental Nonlinear Dynamic Inversion (INDI). The method compares com- manded and measured accelerations to compute increments on the current control de ec- tions. This results in highly robust control solutions with respect to model...
conference paper 2018
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van 't Veld, Ronald (author), van Kampen, E. (author), Chu, Q. (author)
Incremental nonlinear dynamic inversion (INDI) is a variation on nonlinear dynamic inversion (NDI), retaining the high-performance characteristics, while reducing model dependency and increasing robustness. After a successful flight test with a multirotor micro aerial vehicle, the question arises whether this technique can be used to...
conference paper 2018
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Çakiroğlu, Can (author), van Kampen, E. (author), Chu, Q. (author)
Incremental Nonlinear Dynamic Inversion (INDI) is a robust nonlinear control tech­nique that is an adaptation of nonlinear dynamic inversion (NDI). By assuming time scale separation between fast and slow dynamics, and by using angular acceleration feedback, the inner loop of INDI directly controls angular accelerations with incremental control...
conference paper 2018
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Nabi, H.N. (author), Lombaerts, T.J.J. (author), Zhang, Y. (author), van Kampen, E. (author), Chu, Q. (author), de Visser, C.C. (author)
The research presented in this paper focuses on the effects of structural failures on the safe flight envelope of an aircraft, which is the set of all the states in which safe maneuver of the aircraft can be assured. Nonlinear reachability analysis basedonan optimal control formulation is performed to estimate the safe flight envelope using...
journal article 2018
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Wang, X. (author), van Kampen, E. (author), Chu, Q. P. (author), De Breuker, R. (author)
In this paper, an Incremental Nonlinear Dynamic Inversion (INDI) controller is<br/>developed for the flexible aircraft gust load alleviation (GLA) problem. First, a flexible aircraft model captures both inertia and aerodynamic coupling effects between flight dynamics and structural vibration dynamics is presented. Then an INDI GLA controller is...
conference paper 2018
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Shuang, Weifang (author), Zhang, S. (author), Wu, Xue (author), van Kampen, E. (author), Chu, Q. (author)
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conference paper 2017
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Zhou, Y. (author), van Kampen, E. (author), Chu, Q. (author)
contribution to periodical 2017
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Lu, P. (author), van Kampen, E. (author), Chu, Q. (author)
<br/>
conference paper 2017
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Wang, X. (author), van Kampen, E. (author), Chu, Q. (author)
conference paper 2017
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Lu, P. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. (author)
journal article 2017
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Lu, P. (author), van Eykeren, L. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. (author)
journal article 2016
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Tol, H.J. (author), de Visser, C.C. (author), Sun, LG (author), van Kampen, E. (author), Chu, Q. (author)
In this paper, a new modular adaptive control system is presented to compensate for aerodynamic uncertainties in high-performance flight control systems. This approach combines nonlinear dynamic inversion with multivariate spline-based adaptive control allocation. A new real-time identification routine for multivariate splines is presented to...
journal article 2016
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Lu, P. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. (author)
The design of unknown-input decoupled observers and lters requires the assumption of an existence condition in the literature.This paper addresses an unknown input ltering problem where the existence condition is not satised. Instead of designing a traditional unknown input decoupled lter, a Double-Model Adaptive Estimation approach is extended...
journal article 2016
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