Giampiero Campa | MathWorks - Academia.edu (original) (raw)

Papers by Giampiero Campa

2012 ASEE Annual Conference & Exposition Proceedings

The Aeronautical Journal, 2007

This paper describes the results of an effort on the analysis of the performance of specific ‘pos... more This paper describes the results of an effort on the analysis of the performance of specific ‘pose estimation’ algorithms within a Machine Vision-based approach for the problem of aerial refuelling for unmanned aerial vehicles. The approach assumes the availability of a camera on the unmanned aircraft for acquiring images of the refuelling tanker; also, it assumes that a number of active or passive light sources – the ‘markers’ – are installed at specific known locations on the tanker. A sequence of machine vision algorithms on the on-board computer of the unmanned aircraft is tasked with the processing of the images of the tanker. Specifically, detection and labeling algorithms are used to detect and identify the markers and a ‘pose estimation’ algorithm is used to estimate the relative position and orientation between the two aircraft. Detailed closed-loop simulation studies have been performed to compare the performance of two ‘pose estimation’ algorithms within a simulation envi...

Proceedings of the 2004 American Control Conference, 2004

ABSTRACT This work presents identification, control synthesis and simulation results for an YF-22... more ABSTRACT This work presents identification, control synthesis and simulation results for an YF-22 aircraft model designed, built, and instrumented at West Virginia University. The goal of the project is the experimental demonstration of formation flight for a set of 3 of the above models. In the planned flight configuration, a pilot on the ground maintains controls of the leader aircraft while a wingman aircraft is required to maintain a pre-defined position and orientation with respect to the leader. The identification of both a linear model and a nonlinear model of the aircraft from flight data is discussed first. Then, the design of the control scheme is presented and discussed. Using the developed nonlinear model, the control laws for a maneuvered flight of the formation are then simulated with Simulink and displayed with the Virtual Reality Toolbox. Simulation studies have been performed to evaluate the effects of specific parameters and the system robustness to atmospheric turbulence. The results of this analysis have allowed the formulation of specific guidelines for the design of the electronic payload for formation flight.

The Aeronautical Journal, 2004

This paper gives details of the first flights of the German, Italian and Japanese jet-propelled a... more This paper gives details of the first flights of the German, Italian and Japanese jet-propelled aircraft and engines during the last war. Only gas turbine jet propulsion has been covered.

International Journal of Modelling Identification and Control, 2008

ABSTRACT A critical aspect in the design of Semi‐Autonomous Aerial Refuelling (SAAR) control sche... more ABSTRACT A critical aspect in the design of Semi‐Autonomous Aerial Refuelling (SAAR) control schemes for Unmanned Aerial Vehicles (UAVs) is the availability of accurate measurements of the relative UAV‐Tanker distance and attitude. In this effort, the attention was focused on the development of an accurate modelling of the SAAR manoeuvre and on the development of a Machine Vision‐based scheme for the estimation of the tanker‐UAV relative pose. The developed MV scheme is based on markers installed on the surface of the tanker, and performs specific tasks as Feature Extraction, Feature Matching, and tanker‐UAV relative Pose Estimation. The accuracy/robustness of the overall scheme was evaluated in the event of markers occlusion, in presence of inaccuracy in the positioning of the markers on the tanker aircraft, as a function of the level of attitude and GPS sensors' noise and as a function of the data Transmission Delay (TD) between aircrafts.

Http Dx Doi Org 10 1080 00207179 2011 623327, Oct 1, 2011

Adaptive neural controllers are often criticised for the lack of clear and easy design methodolog... more Adaptive neural controllers are often criticised for the lack of clear and easy design methodologies that relate adaptive neural network (NN) design parameters to performance requirements. This study proposes a methodology for the design of an integrated linear-adaptive model reference controller that guarantees component-wise boundedness of the tracking error within an a priori specified compact domain. The approach is based on the design of a robust invariant ellipsoidal set where both the NN reconstruction error and the neuro-adaptive control are considered as bounded persistent uncertainties. We show that all the performance and control requirements for the closed-loop system can be expressed as linear matrix inequality constraints. This brings the advantage that feasibility and optimal design parameters can be effectively computed while solving a linear optimisation problem. An advantage of the method is that it allows a systematic and quantitative evaluation of the interplay between the design parameters and their impact on the requirements. This produces an integrated linear/neuro-adaptive performance-oriented design methodology. A numerical example is used to illustrate the approach.

This paper presents an Adaptive Neural Network (ANN) based tool for the modeling, simulation and ... more This paper presents an Adaptive Neural Network (ANN) based tool for the modeling, simulation and analysis of aircraft Sensor Failure, Detection, Identification and Accommodation (SFDIA) problem. The tool is based on a SFDIA scheme in which learning NNs are used as on-line non-linear approximators of the analytically redundant portion of the system dynamics. This can provide validation capability to measurement devices, allowing sensors failures to be detected, identified and accommodated. In the context of online learning the issues of critical importance are learning speed, number of parameters to be updated, and stability of the learning algorithm. To address these problems, a library comprising different online learning Adaptive Neural Network is presented, and an Extended Minimal Resource Allocating Network (EMRAN) featuring a fully tuned Radial Basis Functions (RBF) is eventually selected between all the candidate architectures. The study has been performed on a detailed nonlinear 6DOF aircraft model of an aircraft.

IEEE Oceanic Engineering Society. OCEANS'98. Conference Proceedings (Cat. No.98CH36259), 2000

This paper presents the results of a controller synthesis where a robust control of an AUV is dev... more This paper presents the results of a controller synthesis where a robust control of an AUV is developed using two different methods. The problem statement requires the design of a position and attitude control system for the vehicle in order to achieve precise trajectory following. Firstly, a detailed nonlinear model of the vehicle was derived. Secondly an operating point for nominal design was selected, and a multivariable linear model of the vehicle was obtained by linearization around the operating point. The presence of structured uncertainties due to errors in the computation of hydrodynamic coefficients, dynamic linearization and truncation, unknown disturbances, were considered. Two robust controllers were designed, the first one linear, using standard Mu analysis and synthesis techniques, and the second one nonlinear, using a Sliding Mode approach. The performance of the two controllers were extensively evaluated and compared in simulation with a full nonlinear model of the vehicle.

This paper describes the results of a study where two on-line parameter identification (PID) meth... more This paper describes the results of a study where two on-line parameter identification (PID) methods are compared for application within a fault tolerant flight control system. One of the PID techniques is time-domain based while the second is featured in the frequency domain. The time domain method was directly suitable for the on-line estimates of the dimensionless aircraft stability derivatives. The frequency domain method was modified from its original formulation to provide direct estimates of the stability derivatives. This effort was conducted within the research activities of the NASA IFCS F-15 program. The comparison is performed through dynamic simulations with a specific procedure to model the aircraft aerodynamics following the occurrence of a battle damage/failure on a primary control surface. The two PID methods show similar performance in terms of accuracy of the estimates, convergence time, and robustness to noise. However, the frequency domainbased method outperforms the time domain-based method in terms of computational requirements for on-line real time applications. The study has also emphasized the advantages of using "ad-hoc" short pre-programmed maneuvers to provide enough excitation following the occurrence of the actuator failure to allow the parameter estimation process.

This paper presents a Neural Network (NN) based tool for the modeling, simulation and analysis of... more This paper presents a Neural Network (NN) based tool for the modeling, simulation and analysis of aircraft Sensor Failure, Detection, Identification and Accommodation (SFDIA) problems. The SFDIA scheme exploits the analytical redundancy of the system to provide validation capability to measurement devices by employing Neural Networks as on-line non-linear approximators. The tool allows evaluating either the open loop or the closed loop performance of the SFDIA scheme. Several kinds of NN approximators and learning algorithms are employed, and a library comprising all these different adaptive neural networks is presented. In particular, Resource Allocating Networks featuring fully tuned Radial Basis Activation Functions are proposed as one of the most effective architectures. Finally, the results of a comparative study of different NN approximators applied to the SFDIA problem on a detailed nonlinear model of a De Havilland DHC-2 "Beaver" aircraft are reported.

Control Engineering Practice, Jul 1, 2009

This paper presents an ''ad hoc'' methodology for the design of diagnostic software for the detec... more This paper presents an ''ad hoc'' methodology for the design of diagnostic software for the detection and isolation of faults on sensors and actuators of a remotely controlled semi scale YF-22 research aircraft. Starting from the structural analysis of the nonlinear dynamic equations of the aircraft, an algorithm, based on the ''variables elimination method'', is proposed to compute a set of residual equations having all the possible fault signatures. The quality of each residual equation has been ranked according to a cost function chosen to represent implementation issues such as the sensitivity to measurement noise in the numerical computation of high order derivatives. An algorithm is then proposed for selecting a subset of residual equations with maximum ''failure isolability'' and minimum cost, according to the selected performance criteria. The issue of robustification of the residual equations to modeling errors and measurement noise has been addressed through nonlinear uncertainty mapping using Neural Networks in conjunction to FIR filters. The fault detection and isolation method has been applied by injecting simulated faults to flight data collected by a semi-scale YF-22 research aircraft model.

Proceedings of the 2005, American Control Conference, 2005., 2005

... feature a linear inner loop controller and a NLDI (nonlinear dynamic inversion) based outer l... more ... feature a linear inner loop controller and a NLDI (nonlinear dynamic inversion) based outer loopguidance controller, are ... Autonomous formation flight is an important research area in the aerospace community. ... The fourth section outlines the design of the formation control laws. ...

This paper presents a synthesis of a robust control for an autonomous underwater vehicle (AUV) us... more This paper presents a synthesis of a robust control for an autonomous underwater vehicle (AUV) using two different methods. The problem statement requires the design of a position and attitude control system for the vehicle such that robust trajectory following is achieved. A detailed nonlinear model of the vehicle was derived, an operating point for nominal design was selected, and a multivariable linear model of the vehicle was obtained by linearization around the operating point. The presence of structured uncertainties due to errors in the computation of hydrodynamic coefficients, dynamic linearization and truncation, unknown disturbances, is included in the control synthesis. Two robust controllers were designed, the first one nonlinear, using a Sliding Mode approach, and the second one linear, using linear matrix inequalities (LMI) synthesis techniques. The performance of the two controllers were extensively evaluated and compared in simulation with a full nonlinear model of the vehicle.

Aircraft Engineering and Aerospace Technology, 2008

A simulation environment for design and testing of aircraft adaptive fault-tolerant control syste... more A simulation environment for design and testing of aircraft adaptive fault-tolerant control systems. The Authors. MG Perhinschi, Department ...

AIAA Modeling and Simulation Technologies Conference and Exhibit, 2004

AIAA Guidance, Navigation, and Control Conference and Exhibit, 2005

Journal of Aerospace Computing, Information, and Communication, 2007

The use of a combined Machine Vision (MV) and GPS-based approach has been recently proposed in si... more The use of a combined Machine Vision (MV) and GPS-based approach has been recently proposed in simulation efforts as an alternative approach to 'pure GPS' for the problem of Autonomous Aerial Refueling (AAR) for Unmanned Aerial Vehicles (UAVs). While MV has appealing capabilities, a few critical issues need to be addressed for the actual implementation of MV for the AAR problem. For this purpose a simulation environment was developed featuring an interaction with a 3D Virtual Reality (VR) interface that generates an image stream of the AAR maneuver. The image flow is processed by the MV algorithm, providing, as output, a vector of the estimates of the relative tanker-UAV distance and attitude. This signal is then used by the UAV feedback control laws for 'tracking & docking' to the refueling boom. The MV algorithm specifically provides image processing for the isolation of optical markers, which are located at specific points on the tanker, extraction of the marker center of gravity, marker matching algorithm, and pose estimation algorithm for the final evaluation of the relative distance vector. Within this effort emphasis was placed on the development of an 'ad-hoc' feature matching algorithm followed by a comparative analysis of the performance of different matching algorithms. The paper presents a detailed analysis of the results from open loop and closed loop simulation of the different MV algorithms.

Journal of Aerospace Computing, Information, and Communication, 2010

AIAA Guidance, Navigation and Control Conference and Exhibit, 2007

The purpose of this paper is to present the design and the testing through numerical simulation a... more The purpose of this paper is to present the design and the testing through numerical simulation and actual flight of a fault-tolerant control scheme. The design of the scheme is based on non-linear dynamic inversion augmented with artificial neural networks for the WVU YF-22 model aircraft. The adaptive flight controller is designed and tested through simulation using Matlab and Simulink. A single flight condition is considered and a neural network is used to compensate for inversion errors and changes in aircraft dynamics, including actuator failures. A minimal Real Time Application Interface Linux distribution was created using BusyBox. The Simulink Real Time Workshop environment was used to generate C code to be run on the WVU-YF22 customized on-board computer. Flight testing results performed at nominal flight and under actuator failure conditions show the potential of the control scheme to achieve adequate stability and desirable handling qualities.