Implementing an Adaptive Haptic Shared Controller in Pursuit and Preview Tracking Tasks

Haptic shared controllers (HSCs) are a promising solution to prevent human over-reliance on automation during tasks such as car driving. However, research has shown that if the HSC is tuned incorrectly, then there is a risk of haptic conflicts between the human and HSC. To address this challenge, this paper presents the design and implementation...

Using Explainable Artificial Intelligence to Improve Transparency of Reinforcement Learning for Online Adaptive Flight Control: Breaking Open the Black Box

Deep Reinforcement Learning (DRL) shows great potential for flight control, due to its adaptability, fault-tolerance, and as it does not require an accurate system model. However, these techniques, like many machine learning applications, are considered black-box as their inner workings are hidden. This paper aims to break open the black box of...

Adaptive-Critic Designs For Aircraft Control: A comparative study between Heuristic Dynamic Programming and Dual Heuristic Programming

The Variable Camber Continuous Trailing Edge Flap (VCCTEF) is a novel aircraft control system that intents to prevent undesired aeroelastic deflections by precise lift tailoring along the wing span. However, the unknown dynamics and increased complexity of the new hardware imposes difficulties to establish an optimal controller. One approach is...

Intelligent Controller Selection for Aggressive Quadrotor Manoeuvring: A reinforcement learning approach

A novel intelligent controller selection method for quadrotor attitude and altitude control is presented that maintains performance in different regimes of the flight envelope. Conventional quadrotor controllers can behave insufficiently during aggressive manoeuvring, in extreme angles the quadrotor is unable to maintain height which may result...

A possible new adaptive control approach for ramp metering

Due to increasing congestion there is a need for improved traffic control measures. During the Field Operational Test Integrated Management Amsterdam (Praktijkproef Amsterdam (PPA)) several control measures have been tested. One of them is ramp metering. The ramp metering algorithm, ALINEA, has been used with the "Parameterschatter" (Parameter...

Evolving Systems Approach to the Attitude Control of a Large-Space-Debris Removal Spacecraft

Space debris has become a major issue for the space industry over the last couple of years. The increasing number of uncontrolled objects in space increases the chance of collision with a spacecraft. The unexpected loss of contact with ENVISAT, the European Space Agency’s largest environmental spacecraft, added one more piece of debris to the...

Optimal model distribution in multi model adaptive control with switching

Multi model adaptive control is an emerging field that has proven to be successful in mitigating limitations of classical adaptive control by providing more quicker and faster adaptation. In this method instead of one single parameter varying controller, multiple fixed parameter controllers pertaining to different operation regimes are utilized....

Adaptive Incremental Backstepping Flight Control

This thesis deals with the development of Adaptive Incremental Backstepping control laws for a high-performance aircraft model (F-16), in order to make the airplane robustly seek references in roll rate and angle of attack at a constant airspeed while minimizing sideslip. An Incremental Backstepping scheme that relies on estimates of the angular...