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Dynamic Capacity Balancing in Urban Airspace: Comparing Historical and Real-time Aggregate Flow Data 14

Dynamic Capacity Balancing in Urban Airspace: Comparing Hist...

引用

14th SESAR Innovation Days, SIDS 2024

作者： Morfin Veytia, A. Ellerbroek, J. Hoekstra, J. Control and Simulation Faculty of Aerospace Engineering Delft University of Technology Netherlands

As urban ground transportation congestion increases, there is growing interest in urban air transportation, such as delivery drones and air taxis. However, managing air traffic in densely populated urban areas poses significant challenges, which require effective flight planning, separation management, and airspace design. This paper investigates dynamic capacity balancing methods to manage air traffic in constrained urban airspace, where drones must fly above the existing road network. Specifically, it compares the effectiveness of labelling high-complexity zones using historical data versus real-time aggregate flow data. The results indicate that while both approaches reduce airspace intrusions and improve safety, the best approach depends on traffic demand levels. At lower demand levels, using historical data yields better safety outcomes, whereas using real-time data is more effective at higher demand levels due to its flexibility. At their best, both methods increase the travel distance by less than 6% while reducing airspace intrusions by 30% compared to a case without dynamic capacity balancing. © 2024 Massachusetts Institute of Technology.

关键词： Urban transportation

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Adaptive dynamic incremental nonlinear control allocation for aircraft with innovative control effectors

Adaptive dynamic incremental nonlinear control allocation fo...

引用

AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Stam, N. de Visser, C.C. Control and Simulation Department Faculty of Aerospace Engineering Delft University of Technology Kluyverweg 1 Delft2629 HS Netherlands Control and Simulation Department Faculty of Aerospace Engineering P.O. Box 5058 Delft2600GB Netherlands

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Neglecting actuator dynamics in nonlinear control and control allocation can lead to performance degradation, especially when considering fast dynamic systems. This paper provides a novel method to account for actuator dynamics in the nonlinear control allocation solution: dynamic incremental nonlinear control allocation, or D-INCA. The incremental approach allows for the implementation of a first order discrete-time actuator dynamics model in the quadratic programming solver. This model is used to find the optimal command inputs in addition to the desired physical actuator deflections, hereby compensating for actuator dynamics delays. D-INCA does not require feedback of higher order output derivatives than the baseline INCA and can be used with nonlinear non-control affine systems. Furthermore, with adaptive DINCA, or AD-INCA, an actuator dynamics parameter estimator is introduced to adapt the actuator model online, minimizing actuator tracking errors after actuator failures. The proposed methods are applied to an over-actuated fighter aircraft model with innovative control effectors (ICE) resulting in reduced control allocation errors and superior tracking performance compared to the baseline INCA controller © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Quadratic programming

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Robust Multi-Objective H∞ control of GHAME Hypersonic Vehicle in Subsonic Flight

Robust Multi-Objective H∞ Control of GHAME Hypersonic Vehic...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Goz, E. Theodoulis, S. Control & Simulation division Faculty of Aerospace Engineering Delft University of Technology Delft2628CD Netherlands

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This research is aimed at developing a comprehensive approach for robust hypersonic vehicle (HV) control utilizing modernH∞ techniques. Initial focus is placed on subsonic flight condition to validate the framework and controller design in a relatively familiar field, for which theHV are not primarily optimized. A 6-degree-of-freedom non-linear model of the GHAME hypersonic vehicle was constructed in MATLAB/Simulink, incorporating tensor-based equations of motion and embedded parametric uncertainty in the aerodynamic coefficients. The linear short-period longitudinal dynamics were then extracted at multiple operating points. A controller of fixed structure was synthesized using multi-objective (multidisk) H∞ mixed-sensitivity techniques with various performance and robustness requirements covering the pitch moment coefficient parametric uncertainty domain. Additionally, the design is extended to handle variations in Mach number, altitude, and fuel mass around the trim point using a multi-model approach. A single, structured control system successfully stabilized, rejected input and output disturbances and provided reference tracking for the uncertain short-period models and met the robustness margin requirements for the entire grid. It was then tested on the non-linear model and successfully performed the same tasks under parameter variations across the flight point grid. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hypersonic vehicles

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Fault Tolerant control for the Flying-V Using Adaptive Incremental Nonlinear Dynamic Inversion

Fault Tolerant Control for the Flying-V Using Adaptive Incre...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Atmaca, Direnc van Kampen, Erik-Jan Control and Simulation Faculty of Aerospace Engineering Delft University of Technology Kluyverweg 1 Delft2629 HS Netherlands

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper proposes an estimator to provide precise position, velocity, and orientation for a landing aircraft relative to the runway based on image sensors, IMU sensor data, and barometric sensor measurements. This work excludes GPS data, as it is expected that the proposed estimator can be used for fault detection in GPS and instrument landing systems. The runway is unknown, and hence, its width is estimated online. An adaptive UKF-based approach is adopted to estimate the states. In order to verify the nearer-to-practical performance and accuracy of bias estimation, realistically simulated data that constitute noises and biases from the sensors are taken into consideration. The proposed approach provides a solution for nonlinear state estimation in the presence of measurement noises that are non-additive. In addition to this, it provides estimates of the unknown measurement noise covariance. A comparative study is conducted between the conventional UKF and the proposed AUKF to analyze the adopted approach. Results show that the proposed algorithm gives comparable estimation results and faster convergence than the conventional UKF. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Global positioning system

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Piloted Evaluation of Flying-V with Incremental Nonlinear Dynamic Inversion and Envelope Protection

Piloted Evaluation of Flying-V with Incremental Nonlinear Dy...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Atmaca, Direnc Stroosma, Olaf van Kampen, Erik-Jan Control and Simulation Faculty of Aerospace Engineering Delft University of Technology Kluywerweg 1 Delft2629 HS Netherlands

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The Flying-V is a novel flying wing aircraft design that aims to improve aerodynamic efficiency and fuel consumption. In recent years, there has been an increased effort to evaluate the handling qualities (HQs) of the Flying-V, and to develop new flight control strategies. One of the latest flight control designs for the Flying-V uses Incremental Nonlinear Dynamic Inversion (INDI) with a Flight Envelope Protection system. The purpose of this research is to validate this FCS design and its conclusions on handling qualities by conducting piloted experiments. To facilitate a sound comparison, the aerodynamic model, flight control structure, and airframe characteristics are taken as is from the existing study. For the experiment, numerous maneuvers are designed and carried out. The experiment is performed on the SIMONA Research Simulator of the Delft University of Technology, with three real-life test pilots as participants. The results show a significant correlation with offline findings and demonstrate the improvement in HQs provided by the flight control system. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Flight envelopes

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Design and Simulator Evaluation of a Structured 2DoF H∞ Loop-Shaping control Law for a Business Jet

Design and Simulator Evaluation of a Structured 2DoF H∞ Loo...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Marques, João Stroosma, Olaf Theodoulis, Spilios Control & Simulation Section Faculty of Aerospace Engineering Delft University of Technology Kluyverweg 1 Delft2629 HS Netherlands

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper presents the development process of an aircraft control law. The control law is designed using a two-degree-of-freedom (2DoF) structured H∞ loop-shaping approach. This method allows the reuse of controller structures required by certification procedures while directly including handling qualities and robust stability requirements in the optimization process. This strategy is employed to develop a Rate Command and Attitude Hold (RCAH) demand system aimed at satisfying longitudinal handling qualities. First, the stability of the open-loop model and its compliance with the handling qualities guidelines are evaluated. Then, the control law is designed, with a detailed description provided of the design specifications and their formulation in the context of H∞ control. Subsequently, the controller parameters are optimized to satisfy the design specifications and a closed-loop analysis is performed. Finally, a simulator flight testing campaign is conducted to experimentally validate the designed control law. It is shown that the aircraft equipped with the RCAH system achieves better handling quality ratings (HQRs) and more favorable pilot feedback, providing a substantial improvement over the bare airframe. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Flight simulators

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Comparison of Classical and Optimization-based Motion Cueing for Simulating Aircraft Upset Maneuvers

Comparison of Classical and Optimization-based Motion Cueing...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Bakker, Roemer M. B. Stroosma, Olaf Pool, Daan M. van Paassen, Marinus M. Mulder, Max Aerospace Operations division Training and Simulation department Royal Netherlands Aerospace Centre Noord-Holland Amsterdam1059 CM Netherlands Control and Operations department Control and Simulation section Faculty of Aerospace Engineering Delft University of Technology Delft2600 GB Netherlands

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Providing adequate simulator motion cues for simulated upset and stall scenarios remains challenging. This paper evaluates the potential of novel optimization-based motion cueing algorithms for upset and stall simulation. An offline analysis is performed to compare three Model Predictive control (MPC) algorithms with varying prediction horizon lengths and prediction strategies (i.e., "Oracle", "Perfect", and "Constant") against two baseline classical washout algorithm implementations from literature. The analysis is performed for a symmetric stall scenario flown with TU Delft’s Cessna Citation II laboratory aircraft. Overall, the analysis shows that the objective motion cueing quality expressed in terms of the Root Mean Square Error (RMSE) improves by 29.8% (for specific forces) and 18.7% (for rotational velocities) with the "Oracle" and "Perfect" MPC implementations compared to the reference classical washout results. For the "Constant" MPC algorithm, which in fact does not include any explicit prediction across the MPC algorithm’s future prediction window, only a marginal improvement in motion quality was found. Overall, these results imply that, assuming a sufficient future reference motion prediction can be achieved, optimization-based motion cueing algorithms have the potential to provide significantly better motion cueing quality compared to classical motion cueing algorithms. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Model predictive control

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BlueSky-Gym: Reinforcement Learning Environments for Air Traffic Applications 14

BlueSky-Gym: Reinforcement Learning Environments for Air Tra...

引用

14th SESAR Innovation Days, SIDS 2024

作者： Groot, D.J. Leto, G. Vlaskin, A. Moec, A. Ellerbroek, J. Control and Simulation Faculty of Aerospace Engineering TU Delft Netherlands Air Traffic Management and Airports Royal Netherlands Aerospace Centre NLR Netherlands

Reinforcement Learning (RL) is rapidly becoming a mainstay research direction within Air Traffic Management and control (ATM/ATC). Many international consortia and individual works have explored its applicability to different ATC and U-Space / Urban Aircraft System Traffic Management (UTM) tasks, such as merging traffic flows, with varying levels of success. However, to date there is no common basis on which these RL techniques are compared, with many research parties building their own simulator and scenarios from scratch. This can diminish the value of this research, as the performance of an algorithm cannot be easily verified, or compared to that of other implementations. This hampers development in the long run. The gymnasium library shows for other research domains that this can be solved by providing a set of standardised environments, which can be used to test different algorithms, and compare them to benchmark results. This paper proposes BlueSky-Gym: a library that provides a similar set of test environments for the aviation domain, building on the existing open-source air traffic simulator BlueSky. The current BlueSky-Gym environments range from vertical descent environments, to static obstacle avoidance and traffic flow merging. Built upon the Gymnasium API and the BlueSky air traffic simulator, it delivers an open-source solution for the ATC-specific RL performance benchmark. In the initial release of BlueSky-Gym, 7 functional environments are presented. Preliminary experiments with PPO, SAC, DDPG and TD3 are presented in this paper. Results show stable training is obtained on all of the environments with the default hyperparameters. On some environments, there is a large performance gap, with the on-policy PPO often trailing, but overall no clear algorithm that outperforms others across the board in terms of total reward. © 2024 Massachusetts Institute of Technology.

关键词： Reinforcement learning

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Time-Varying Human Operator Identification with Box-Jenkins Models

Time-Varying Human Operator Identification with Box-Jenkins ...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Moya, Alvaro Ortiz Pool, Daan M. van Paassen, Marinus M. Mulder, Max Delft University of Technology Control and Simulation section Faculty of Aerospace Engineering P.O. Box 5058 Zuid-Holland Delft Netherlands

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The identification of time-varying, adaptive behavior of a human operator in basic manual control tasks is currently still a focus area, since most methodologies only account for timeinvariant system dynamics. Previous authors have proven that estimation techniques based on ARX model structures can be used to identify time-varying HO model parameters. However, ARX methods do present several problems, such as a persistent bias in the obtained estimates of the HO model poles (neuromuscular parameters) that increases due to coupled noise and system models. Therefore, in this paper a novel identification technique based on Box-Jenkins (BJ) models is proposed, to achieve a better match between the BJ estimator’s inherently uncoupled system and noise models and measured HO control dynamics. The identification process was tested offline (batch-fitting) using Ordinary Least Squares and the Prediction Error Method for both ARX and BJ models, respectively, or online when Recursive Least Squares and Recursive PEM are employed. The BJ estimator has excellent potential as an identification tool due to its bias reduction capabilities, as clearly shown in batch-fitting, although the non-linear optimization processes decrease its convergence speed by 500%. An RPEM algorithm with a forgetting factor of λ = 0.99609 and a first-order remnant model incorporated in the BJ structure was tested on Monte Carlo simulation and experimental data. While the recursive BJ estimator showed the same bias-diminishing advantages also seen in batch-fitting, the non-linear RPEM estimator’s results showed much slower convergence after HO behavior adaptations and frequent instabilities of the obtained parameter estimates. Hence, further research is needed for implementing a practical bias-free HO model estimator based on the BJ model structure. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Least squares approximations

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A Nonlinear Unsteady Pitching Moment Stall Model from Cessna Citation II Flight Test Data

A Nonlinear Unsteady Pitching Moment Stall Model from Cessna...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： van Wezel, C.J. Pool, D.M. de Visser, C.C. Control and Simulation Division Faculty of Aerospace Engineering Delft University of Technology P.O. Box 5058 Delft2600 GB Netherlands

ISBN: (纸本)9781624107238

One of the most widely applied identification methods for stall modeling using flight test data is based on Kirchhoff’s method of flow separation. However, this approach has not lead to a satisfactory aerodynamic pitching moment model. The introduction of the so-called X-variable, representing the point of flow separation on the wing, interferes with identification of a pitch damping term, that is required for dynamic stability. In general, Kirchhoff methods lead to models that are incompatible with nominal flight envelope models. This paper presents a nonlinear unsteady model of the pitching moment using lag states of the angle of attack measurements, identified from flight test data collected with a Cessna Citation II laboratory aircraft. The model is formulated in terms of well-known stability derivatives and is a one-on-one extension of the nominal envelope model. Model regressors are selected from a large pool of candidates using Multivariate Orthogonal Function Modeling. The candidate pool is based on a newly formulated mathematical model, such that each model contribution has a clear physical interpretation. The model has good predictive abilities and results in a reduction of 55.9% in validation MSE compared to Kirchhoff based pitching moment models. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Orthogonal functions

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