MAE - Campbell Group

Program Description

This program focuses on developing active state models in support of software enabled control. A primary element of this work is the development and use of uncertainty models on-line. The uncertainty model is designed to give a measure of the variability of important system parameters, such as aerodynamic models, environmental variations, hybrid mode transitions, and system failures. Several approaches are developed including hard bounds with guaranteed accuracy, and soft, non-guaranteed bounds that are usually less conservative and more practical. Connections to control are addressed using concepts such as predicting state uncertainty into the future, and developing uncertainty constraints for control optimization algorithms. Connections to fault detection are addressed by tracking states and models while damage occurs without a priori knowledge of the damage. The uncertainty model gives a very practical interconnect in autonomous control that has been lacking in the current and future directions of field.

The Cornell led team has completed a variety of milestones in the past 5+ years in the areas of real time sigma point filtering for nonlinear aerodynamic model and fault estimation on UAV’s, bounded nonlinear filtering, bounded nonlinear model predictive control, cooperative planning for estimation, hybrid estimation, and real time demonstrations using the SeaScan UAV from the Insitu group.

Sponsors

DARPA SEC

Staff and Students

• Paul Otanez, ME Ph.D., Student Bounded Probability Estimation and Planning for Hybrid Systems
  
• Jarurat Ousingsawat, AE Ph.D. (2004), Estimation and Path Planning for Cooperative Multi-Vehicle Systems
  Current: Professor at the King Mongkut's Institute of Technology, Bangkok Thailand
  
• Eelco Scholte, ME Ph.D. (2004), Real-Time Estimation and Control of Unmanned Aerial Vehicles in Uncertain Environments
  Current: Research Engineer at United Technologies Research Center, Hartford CT
  
• Shelby Brunke, ME Ph.D. (2001), Nonlinear Filtering and System Identification Algorithms for Complex Autonomous Systems
  Current: Senior Scientist at Siemens, Redmond WA

Publications

• P. Otanez, M. Campbell, “Bounded Estimator Switching in Uncertain Hybrid Systems,” accepted and to appear in the IEEE Transactions on Control Systems Technology.
• M. Campbell, R. D’Andrea, J.-W. Lee, and E. Scholte, “Experimental Demonstrations of Semi-Autonomous Control,” 2004 American Control Conference, June 2004.
• P. Otanez, and M. Campbell, “Bounded Model Switching in Uncertain Hybrid Systems,” 2004 American Control Conference, June 2004.
• Campbell, M., E. Scholte, S. Brunke, “Active Model Estimation for Complex Autonomous Systems”, Software-Enabled Control: Information Technology for Dynamical Systems, Samad and Balas Eds., IEEE Press, Wiley, April 2003.
• S. Brunke and M. Campbell, “Square Root Sigma Point Filtering for Aerodynamic Model Estimation,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 27, No. 2, Mar-Apr, 2004, pp. 314-317.
• J. Ousingsawat and M. Campbell, “On-line Estimation and Path Planning for Multiple Vehicles in an Uncertain Environment,” International Journal of Nonlinear and Robust Control, Vol. 14, No. 8, May 2004, pp. 741-766
• Scholte, E., Campbell, M., “A Nonlinear Set-Membership Filter for On-line Applications,” International Journal of Nonlinear and Robust Control, Vol. 13, No. 15, Dec 2003, pp. 1337-1358. On-line Oct 2003 at www3.interscience.wiley.com.
• M. E. Campbell, J. Han, J. Lee, E. Scholte, J. Ousingsawat, “Validation of Active State Model based Control using the SeaScan UAV,” AIAA Unmanned Unlimited Systems, Technologies, and Operations Conference, San Diego CA, Sept. 2003.
• Scholte, E. and Campbell, M., “Robust Nonlinear Model Predictive Control with Partial State Information,” 2003 AIAA Guidance, Navigation and Control Conference, Austin TX, Aug. 2003.
• M. E. Campbell, J. Han, J. Lee, E. Scholte, J. Ousingsawat, “Validation of Active State Model based Control using the SeaScan UAV,” AIAA Unmanned Unlimited Systems, Technologies, and Operations Conference, San Diego CA, Sept. 2003.
• Scholte, E. and Campbell, M., “Robust Nonlinear Model Predictive Control with Partial State Information,” 2003 AIAA Guidance, Navigation and Control Conference, Austin TX, Aug. 2003.
• Campbell, M., Ousingsawat, J. “On-line Estimation and Path Planning for Multiple Vehicles in an Uncertain Environment,” AIAA Guidance, Navigation and Control Conference, Monterrey CA, August 2002.
• Scholte, E., Campbell, M., “On-line Nonlinear Guaranteed Estimation with Application to a High Performance Aircraft,” American Control Conference, Anchorage AK, May 2002.
• Brunke, S., Campbell, M, “Estimation Architecture for Future Autonomous Vehicles,” American Control Conference , Anchorage AK, May 2002.
• Campbell, M., Brunke, S., “Nonlinear Estimation of Aircraft Models for On-line Control Customization,” IEEE Aerospace Conference, Big Sky MT, March 2001.
• Brunke, S., Campbell, M., “Autonomous Identification for High Performance Control,” 1999 AIAA Guidance, Navigation, and Control Conference, August 1999.