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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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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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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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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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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)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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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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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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Wang, Xuerui (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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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (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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van 't Veld, Ronald (author), van Kampen, E. (author), Chu, Q. P. (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. P. (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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Grondman, Fabian (author), Looye, Gertjan H.N. (author), Kuchar, Richard O. (author), Chu, Q. P. (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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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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Zhou, Y. (author), van Kampen, E. (author), Chu, Q. P. (author)This paper presents an adaptive control technique to deal with spacecraft attitude tracking and disturbance rejection problems in the presence of model uncertainties. Approximate dynamic programming has been proposed to solve adaptive, optimal control problems without using accurate systems models. Within this category, linear approximate...conference paper 2017
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- Wang, X. (author), van Kampen, E. (author), Chu, Q. P. (author) conference paper 2017
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- Zhou, Y. (author), van Kampen, E. (author), Chu, Q. P. (author) contribution to periodical 2017
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- Lu, P. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author) journal article 2017
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