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Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors

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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Database-driven Safe Flight Envelope Protection for Impaired Aircraft

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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In-flight model parameter and state estimation using gradient descent for high-speed flight

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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Safe Exploration Algorithms for Reinforcement Learning Controllers

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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Machine Learning for Flapping Wing Flight Control

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

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Active gust load alleviation of high-aspect ratio flexible wing aircraft

Ferrier, Yvonne L. (author), Nguyen, Nhan T. (author), Ting, Eric (author), Chaparro, Daniel (author), Wang, Xuerui (author), de Visser, C.C. (author), Chu, Q. P. (author)

This paper presents a novel active gust load alleviation approach within a multi-objective flight control framework developed by NASA for a flexible wing aircraft. The aircraft model is based on the NASA Generic Transport Model (GTM). The wing structures incorporate an aerodynamic control surface known as the Variable Camber Continuous...

conference paper 2018

document

Database building and interpolation for a safe flight envelope prediction system

Zhang, Y. (author), de Visser, C.C. (author), Chu, Q. P. (author)

This paper reports the latest progress in the development of a database-driven safe flight envelope prediction system. By building up a database containing safe flight envelopes of different damage and fault scenarios, the challenges associated with online flight envelope prediction can be circumvented. The database is designed for different...

conference paper 2018

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Effects of structural failure on the safe flight envelope of aircraft

Nabi, H.N. (author), Lombaerts, T.J.J. (author), Zhang, Y. (author), van Kampen, E. (author), Chu, Q. P. (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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Aircraft Damage Identification and Classification for Database-driven Online Safe Flight Envelope Prediction

Zhang, Y. (author), de Visser, C.C. (author), Chu, Q. P. (author)

Safe flight-envelope prediction is essential for preventing aircraft loss of control after the occurrence of sudden structural damage and aerodynamic failures. Considering the unpredictable nature of such failures, many challenges remain in the process of implementing such a prediction system. In this paper, an approach to online safe flight...

journal article 2018

document

Framework for Simultaneous Sensor and Actuator Fault-Tolerant Flight Control

Lu, P. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

journal article 2017

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Piloted simulator evaluation of a model-independent fault-tolerant flight control system

Tang, D (author), Pool, D.M. (author), Stroosma, O. (author), Chu, Q. P. (author), de Visser, C.C. (author)

conference paper 2016

document

Multivariate spline-based adaptive control of high-performance aircraft with aerodynamic uncertainties

Tol, H.J. (author), de Visser, C.C. (author), Sun, LG (author), van Kampen, E. (author), Chu, Q. P. (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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A novel approach with safety metrics for real-time exploration of uncertain environments

Mannucci, T. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

conference paper 2016

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Graph based dynamic policy for UAV navigation

Mannucci, T. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

conference paper 2016

document

Adaptive three-step Kalman filter for air data sensor fault detection and diagnosis

Lu, P. (author), van Eykeren, L. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

journal article 2016

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Online physical model identification for database-driven safe fight envelope prediction of damaged aircraft

Zhang, Y. (author), de Visser, C.C. (author), Chu, Q. P. (author)

conference paper 2016

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Online safe flight envelope prediction for damaged aircraft: A database-driven approach

Zhang, Y. (author), de Visser, C.C. (author), Chu, Q. P. (author)

conference paper 2016

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Efficient methods for flight envelope estimation through reachability analysis

Stapel, J (author), de Visser, C.C. (author), van Kampen, E. (author), Chu, Q. P. (author)

conference paper 2016

document

Distance Fields Over Grids Method for Aircraft Envelope Determination

Helsen, R (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

In this research, the concept of posing the flight envelope as a reachable set is ex- plored further and it is investigated whether the "Distance Fields Over Grids (DFOG)" method for reachability computations is a viable method for envelope determination. The DFOG method approximates the reachable set of a dynamic system by solving a number of...

journal article 2016

document

Framework for state and unknown input estimation of linear time-varying systems

Lu, P. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (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