Searched for: collection%253Air
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Konatala, R. (author), Milz, Daniel (author), Weiser, Christian (author), Looye, Gertjan H.N. (author), van Kampen, E. (author)
Unforeseen failures during flight can lead to Loss of Control In-Flight, a significant cause of fatal aircraft accidents worldwide. Current offline synthesized flight control methods have limited capability to recover from failures, due to their limited adaptability. Incremental Approximate Dynamic Programming (iADP) control is a model-agnostic...
conference paper 2024
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Elffers, P.A. (author), Caroselli, Edoardo (author), van Kampen, E. (author), Mooij, E. (author)
This paper investigates the performance of an autonomous navigation system to navigate a spacecraft in the proximity of a binary asteroid system using optical and laser ranging measurements. The knowledge about the binary asteroid is limited to its orbital parameters and ellipsoid shape models. The accelerometer bias random walk is included in...
conference paper 2024
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Teirlinck, C. (author), van Kampen, E. (author)
Recent advancements in fault-tolerant flight control have involved model-free offline and online Reinforcement Learning (RL) algorithms in order to provide robust and adaptive control to autonomous systems. Inspired by recent work on Incremental Dual Heuristic Programming (IDHP) and Soft Actor-Critic (SAC), this research proposes a hybrid SAC...
conference paper 2024
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Gavra, V. (author), van Kampen, E. (author)
Recent research in artificial intelligence potentially provides solutions to the challenging problem of fault-tolerant and robust flight control. The current work proposes a novel Safety-informed Evolutionary Reinforcement Learning (SERL) algorithm, which combines Deep Reinforcement Learning (DRL) and neuro-evolution to optimize a population of...
conference paper 2024
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Stougie, P.J. (author), Pollack, T.S.C. (author), van Kampen, E. (author)
To reduce the impact of aviation on the environment, technological innovations, such as the Flying-V are required. The Flying-V is a proposed commercial flying wing, which uses the Airbus A350-900 as reference aircraft. In this work, a Flight Control system for the Flying-V is proposed with a longitudinal ��∗ control law, and a Rate Control...
conference paper 2024
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Li, Y. (author), van Kampen, E. (author)
This paper provides a convergence and stability analysis of the incremental value iteration algorithm under the influence of various errors. Incremental control is firstly used to linearize the continuous-time nonlinear system, recursive least squares (RLS) identification is then introduced to identify the incremental model online. Based on...
journal article 2024
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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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van Kampen, Jakko (author), Lammers, Marre (author), Steijn, Wouter (author), Guldenmund, F.W. (author), Groeneweg, J. (author)
In the Netherlands, approximately 2.300 workers have a serious reportable accident at work every year, of which around 60 are fatal (Inspectie SZW, 2020; Bellamy et al., 2014). Safety practitioners employ many methods to improve occupational safety for workers within their companies. Interventions might, for example, be aimed at improving...
journal article 2023
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Li, Y. (author), van Kampen, E. (author)
This paper proposes a novel dynamic programming algorithm for nonlinear system optimal control problem, namely Incremental Generalized Policy Iteration (IGPI). The proposed IGPI algorithm combines the advantages of Incremental Control(IC) and Generalized Policy Iteration(GPI). Incremental control can handle the nonlinearity and uncertainty in...
conference paper 2023
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Liu, C. (author), van Kampen, E. (author), de Croon, G.C.H.E. (author)
Enabling the capability of assessing risk and making risk-aware decisions is essential to applying reinforcement learning to safety-critical robots like drones. In this paper, we investigate a specific case where a nano quadcopter robot learns to navigate an apriori-unknown cluttered environment under partial observability. We present a...
conference paper 2023
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van Kampen, E. (author), Sun, B. (author)
Adaptive dynamic programming (ADP) is a sub-field of approximate dynamic programming that deals with the adaptive control of continuous nonlinear dynamic systems. Its origins stem from dynamic programming in optimal control, but it is extended into a form where approximations are used to reduce the curse of dimensionality and reduce the need...
book chapter 2023
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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
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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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