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Control Allocation with Adaptive Augmentation for Aerodynamic Optimization of Trailing Edge Morphing Aircraft
Mark Spiller, Lennart Kracke, Johannes Autenrieb
This paper presents a control allocation framework with adaptive augmentation for a trailing edge morphing aircraft, providing stability guarantees under uncertainty while exploiti…
Safe Learning-Based Adaptive Augmentation Control for Fixed-Wing UAV under Uncertainty
Leon Raguse, Lennart Kracke, Mayank Shekhar Jha +2
This paper presents a learning-based adaptive augmentation control concept inspired by the adaptation mechanisms of conventional adaptive control, while not being restricted to the…
Closed-Loop Model-Based Control Barrier Functions with Application to Robust Flight Envelope Protection
Johannes Autenrieb, Mark Spiller, Peter A. Fisher +3
Ensuring operation of aerospace systems within prescribed flight envelope limits is a fundamental requirement for modern flight control architectures. Flight envelope protection ai…
Flight Envelope Protection for a Hypersonic Glide Vehicle Using Adaptive Safety-Critical Control
Johannes Autenrieb, Peter A. Fisher, Anuradha Annaswamy
This paper presents an adaptive safety-critical control framework for flight envelope protection (FEP) of hypersonic glide vehicles (HGVs) under model uncertainty. The proposed arc…
Combinatorial Safety-Critical Coordination of Multi-Agent Systems via Mixed-Integer Responsibility Allocation and Control Barrier Functions
Johannes Autenrieb, Mark Spiller, Hyo-Sang Shin +1
This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide forma…
Robust Safety Filters for Lipschitz-Bounded Adaptive Closed-Loop Systems with Structured Uncertainties
Johannes Autenrieb, Peter A. Fisher, Anuradha Annaswamy
Adaptive control provides closed-loop stability and reference tracking for uncertain dynamical systems through online parameter adaptation. These properties alone, however, do not…
Robust Adaptive Sliding-Mode Control for Damaged Fixed-Wing UAVs
Mark Spiller, Lennart Kracke, Johannes Autenrieb
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilot…