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Jenie, Y.I. (author), van Kampen, E.J. (author), Ellerbroek, J. (author), Hoekstra, J.M. (author)
A novel architecture for a general Unmanned Aerial Vehicle (UAV) Conflict Detection and Resolution (CD&R) system, in the context of their integration into the civilian airspace, is proposed in this paper. The architecture consists of layers of safety approaches ,each representing a combination of different methods for surveillance, coordination,...
conference paper 2015
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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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Dally, Killian (author), van Kampen, E. (author)
Fault-tolerant flight control faces challenges, as developing a model-based controller for each unexpected failure is unrealistic, and online learning methods can handle limited system complexity due to their low sample efficiency. In this research, a model-free coupled-dynamics flight controller for a jet aircraft able to withstand multiple...
conference paper 2022
document
Smit, B. (author), Pollack, T.S.C. (author), van Kampen, E. (author)
Control augmentation systems based on Incremental Nonlinear Dynamic Inversion (INDI) are able to provide high-performance nonlinear control without a holistic model. Considering an angular rate control law for a fixed-wing aircraft, only a control effectiveness (CE) model and angular acceleration measurement feedback is required. Despite...
conference paper 2022
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Pollack, T.S.C. (author), van Kampen, E. (author)
Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control law design strategy that is based on the principles of feedback linearization. Contrary to its non-incremental counterpart (NDI), this design method does not rely on the availability of a high-fidelity on-board model of the airframe dynamics and is robust to aerodynamic...
conference paper 2022
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Liu, C. (author), van Kampen, E. (author)
Reinforcement learning (RL) equipped with neural networks has recently led to a wide range of successes in learning policies for unmanned aerial vehicle (UAV) navigation and control problems. The success of RL relies on two human-designed heuristics: appropriate action space definition and reward function engineering. The commonly used fully...
conference paper 2022
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Kumtepe, Y. (author), Pollack, T.S.C. (author), van Kampen, E. (author)
Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control strategy, which has shown robustness against model uncertainties on various aerospace platforms. The sensor-based nature of the method brings attractive properties, which has made it popular in the last decade. INDI globally linearizes the system by making use of control...
conference paper 2022
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De Buysscher, D.D.C. (author), Pollack, T.S.C. (author), van Kampen, E. (author)
Safe Curriculum Learning aims at improving safety and efficiency aspects of Reinforcement Learning (RL). Curricular RL approaches divide a task into stages of increasing complexity in order to increase efficiency. This paper proposes a black box safe curriculum learning architecture applicable to systems with parametric unknowns. The agent...
conference paper 2022
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van Overeem, S. (author), Wang, Xuerui (author), van Kampen, E. (author)
Considerable growth in the number of passengers and cargo transported by air is predicted. Besides that, aircraft noise and climate impact become increasingly important factors in aircraft design. These existing challenges in aviation boost interest in the design of innovative aircraft configurations. One of these configurations is a V-shaped...
conference paper 2022
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Das, H. (author), Pool, D.M. (author), van Kampen, E. (author)
Pneumatic cylinders provide an environmentfriendly actuation means by minimizing the leakage of any harmful industrial fluids, as occurs for hydraulic actuators. However, pneumatic actuation has not been utilized widely for industrial servo applications due to its highly nonlinear nature. Incremental nonlinear dynamic inversion (INDI) is a form...
conference paper 2021
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Zammit, C. (author), van Kampen, E. (author)
Unmanned Aerial Vehicles (UAVs) are being integrated into all spheres of life varying in a wide range of applications from military to civil applications. In such applications, UAVs are expected to operate safely in the presence of uncertainties present in the dynamic environment and the UAV itself. Based on literature different uncertainty...
conference paper 2021
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Naruta, Anton (author), Mannucci, T. (author), van Kampen, E. (author)
This paper describes an implementation of a reinforcement learning-based framework applied to the control of a multi-copter rotorcraft. The controller is based on continuous state and action Q-learning. The policy is stored using a radial basis function neural network. Distance-based neuron activation is used to optimize the generalization...
conference paper 2019
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Pollack, T.S.C. (author), van Kampen, E. (author)
Flight control systems enable the improvement of natural flying qualities and airframe performance of an aircraft. In this article, an incremental optimization control scheme is proposed to optimize a given performance objective set by the designer in an online fashion using limited model information. This scheme is applied to improve the...
conference paper 2022
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de Haro Pizarroso, Gabriel (author), van Kampen, E. (author)
Reinforcement Learning is being increasingly applied to flight control tasks, with the objective of developing truly autonomous flying vehicles able to traverse highly variable environments and adapt to unknown situations or possible failures. However, the development of these increasingly complex models and algorithms further reduces our...
conference paper 2023
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Pollack, T.S.C. (author), van Kampen, E. (author)
This paper proposes an extension to the traditional flight path reconstruction filter to simultaneously reconstruct the aircraft rigid body states together with modal amplitudes and velocities of the structure. To achieve this, the filter makes use of additional accelerometers, gyroscopes and strain gauges placed across the aircraft structure....
conference paper 2023
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van Overeem, S. (author), Wang, Xuerui (author), van Kampen, E. (author)
Considerable growth in the number of passengers and cargo transported by air is predicted. Moreover, aircraft noise and climate impact become increasingly important factors in aircraft design. These existing challenges in aviation boost interest in the design of innovative aircraft configurations. One of these configurations is a V-shaped flying...
conference paper 2023
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Völker, W.J.E. (author), Li, Y. (author), van Kampen, E. (author)
Recent research on the Flying V - a flying-wing long-range passenger aircraft - shows that its airframe design is 25% more aerodynamically efficient than a conventional tube-and-wing airframe. The Flying V is therefore a promising contribution towards reduction in climate impact of long-haul flights. However, some design aspects of the Flying V...
conference paper 2023
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Li, Y. (author), van Kampen, E. (author)
This paper deals with the design of an adaptive optimal controller for a fixed-wing Unmanned Aerial Vehicle(UAV) using an incremental value iteration algorithm. The incremental model is firstly introduced to linearize a nonlinear system. The recursive least squares(RLS) identification algorithm is then used to identify the incremental model....
conference paper 2023
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Mannucci, T. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)
conference paper 2016
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Mannucci, T. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)
conference paper 2016
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