Maximum Likelihood Estimation of Linear Time-Varying Pilot-Vehicle System Parameters

Validating a Human Controller Model for Preview Tracking Tasks: Identification of the Effects of Spatial Occlusion using Eye-Tracking

This paper presents an experimental validation of a recently developed two-point human controller (HC) model for preview tracking tasks. During a human-in-the-loop experiment, subjects tracked identical target signals with zero preview, 1.5 seconds of preview, and two occlusion conditions, blocking either the 0-0.5 s, or 0.35-0.85 s region from...

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...

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...

Modeling of a Twisted and Coiled Polymer Muscle

A new type of polymeric artificial muscle was recently discovered. This muscle is based on twisted and coiled polymer fiber and is actuated thermally. It has interesting properties, such as low costs and high work densities. Based on fabrication methods, two variations can be considered. The autocoiled variation has a larger load capacity and...

Improving the Performance of INDI Flight Control for a Quadrotor in the Ceiling Effect

As the application areas of Unmanned Aerial Vehicles (UAVs) keep expanding, new flight areas are encountered more often. Small UAVs, named Micro Air Vehicles (MAVs), even fly in areas like sewage pipes. These areas introduce new difficulties such as aerodynamic effects caused by the ground and/or ceiling. In this paper two main contributions are...

Estimation of Time-Varying Human Manual Control Behaviour in Preview Tracking Tasks Using a Dual Extended Kalman Filter

This research applied a Dual Extended Kalman Filter (DEKF) to time-varying human operator (HO) parameter estimation in preview tracking tasks. The preview time parameter was of particular interest, as the amount of preview can be highly variable in practical situations. The filter was centered around a linear cybernetic HO model with six...