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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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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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Lee, J.H. (author), van Kampen, E. (author)
Reinforcement learning is used as a type of adaptive flight control. Adaptive Critic Design (ACD) is a popular approach for online reinforcement learning control due to its explicit generalization of the policy evaluation and the policy improvement elements. A variant of ACD, Incremental Dual Heuristic Programming (IDHP) has previously been...
conference paper 2021
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Konatala, R.B. (author), van Kampen, E. (author), Looye, Gertjan H.N. (author)
OnlineAdaptive Flight Control is interesting in the context of growing complexity of aircraft systems and their adaptability requirements to ensure safety. An Incremental Approximate Dynamic Programming (iADP) controller combines reinforcement learning methods, optimal control and online identified incremental model to achieve optimal adaptive...
conference paper 2021
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Shayan, K. (author), van Kampen, E. (author)
Conventional discrete reinforcement learning methods fail in providing satisfactory performance for online Flight Control Systems (FCSs). The lack of efficiency of the discrete controller in exploration for finding the optimal policy, the so-called problem of ’curse of dimensionality’, results in an approach that is not suitable for online...
conference paper 2021
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Zammit, C. (author), van Kampen, E. (author)
Unmanned Aerial Vehicles (UAVs) are taking active roles in personal, commercial, industrial and military applications due to their efficiency, availability and low-cost. UAVs must operate safely and in real-time in both static and dynamic environments. An extensive literature review, defines the dynamic environment term, the need for dynamic...
conference paper 2021
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de Alvear Cardenas, J.I. (author), Sun, B. (author), van Kampen, E. (author)
Linear Approximate Dynamic Programming (LADP) and Incremental Approximate Dynamic Programming (IADP) are Reinforcement Learning methods that seek to contribute to the field of Adaptive Flight Control. This paper assesses their performance and convergence, as well as the impact of sensor noise on policy convergence, online system...
conference paper 2021
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Helder, B. (author), van Kampen, E. (author), Pavel, M.D. (author)
Reinforcement learning is an appealing approach for adaptive, fault-tolerant flight control, but is generally plagued by its need for accurate system models and lengthy offline training phases. The novel Incremental Dual Heuristic Programming (IDHP) method removes these dependencies by using an online-identified local system model. A recent...
conference paper 2021
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Zammit, C. (author), van Kampen, E. (author)
Unmanned Aerial Vehicles (UAVs) are being integrated into a wide range of military, industrial and commercial applications. Such applications require faultless autonomous systems to coordinate, guide, navigate and control different UAVs of different sizes, designed for different purposes with different capabilities. In this regard, different...
conference paper 2020
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van Dam, Geart (author), van Kampen, E. (author)
This research investigates and proposes a new method for obstacle detection and avoidance on quadrotors, that relies solely on measurements from the accelerometer and rotor controllers. The detection of obstacles is based on the principle that the airflow around a quadrotor changes when the quadrotor is flying near a surface. A well-known...
conference paper 2020
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Heyer, Stefan (author), Kroezen, D. (author), van Kampen, E. (author)
In recent years Adaptive Critic Designs (ACDs) have been applied to adaptive flight control of uncertain, nonlinear systems. However, these algorithms often rely on representative models as they require an offline training stage. Therefore, they have limited applicability to a system for which no accurate system model is available, nor...
conference paper 2020
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Pollack, T.S.C. (author), van Kampen, E. (author)
Reinforcement learning (RL) enables the autonomous formation of optimal, adaptive control laws for systems with complex, uncertain dynamics. This process generally requires a learning agent to directly interact with the system in an online fashion. However, if the system is safety-critical, such as an Unmanned Aerial Vehicle (UAV), learning may...
conference paper 2020
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Ashraf, Imrul (author), van Kampen, E. (author)
Loss of control-in flight (LOC-I) is one of the causes of catastrophic aircraft accidents. Fault-tolerant flight control (FTFC) systems can prevent LOC-I and recover aircraft from LOC-I precursors. One group of promising methods for developing Fault-Tolerant Control (FTC) system is the Adaptive Critic Designs (ACD). Recently one ACD algorithm,...
conference paper 2020
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Sun, B. (author), van Kampen, E. (author)
Sufficient information about system dynamics and inner states is often unavailable to aerospace system controllers, which requires model-free and output feedback control techniques, respectively. This paper presents a novel self-learning control algorithm to deal with these two problems by combining the advantages of heuristic dynamic...
conference paper 2020
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Sun, B. (author), van Kampen, E. (author)
Optimal tracking is a widely researched control problem, but the unavailability of sufficient information referring to system dynamics brings challenges. In this paper, an optimal tracking control method is proposed for an unknown launch vehicle based on the global dual heuristic programming technique. The nonlinear system dynamics is...
conference paper 2020
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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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van Rooijen, S. J. (author), Ellerbroek, Joost (author), Borst, C. (author), van Kampen, E. (author)
Lack of trust has been identified as an obstacle in the introduction of workload-alleviating automation in air traffic control. The work presented in this paper describes a concept to generate individual-sensitive resolution advisories for air traffic conflicts, with the aim of increasing acceptance by adapting advisories to different...
conference paper 2019
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Zammit, C. (author), van Kampen, E. (author)
Advancements in Unmanned Aerial Vehicles (UAVs) design, actuator and sensory systems and control are making such devices financially available to a wide spectrum of users with various demands and expectations. To mitigate with this ever increasing demand robust, efficient and application–specific path planning is important. This paper...
conference paper 2019
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de Vries, Pieter Simke (author), van Kampen, E. (author)
Established Control Allocation (CA) methods rely on knowledge of the control effectiveness for distributing control effector utilization for control of (overactuated) systems. The Innovative Control Effectors (ICE) aircraft model is highly overactuated with its 13 control effectors, CA is a preferred method to distribute control effector...
conference paper 2019
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