ADVANCED HUMAN-IN-THE-LOOP ACTIVE ASSISTANCE SYSTEMS FOR INNOVATIVE GROUND AND AIR VEHICLES
As the complexity of modern aircraft is increasing, as well as the difficulty of the missions, helping pilots with assistance systems is becoming more and more necessary. For air operations, said systems are well-studied and very common; however, in the environment of ground manoeuvring, they are not. This project aims to exploit advanced modelling and control techniques to design multiple innovative stability augmentation systems which will help the pilot in faulty/asymmetric conditions, multiple actuator management, and oscillation avoidance. A particular focus will be put on the following subtopics: the stability analysis of the system in various conditions, the development of compensation schemes inside the actuators that mitigate the oscillatory effect of current nonlinearities, the development of a resonance damper based on the inversion of the aircraft’s dynamics and made resilient by robust control techniques, the reframe of the current ESC module from an switched system framework to a predictive safety filter one with the scope of minimising the module’s antagonism, and the development of a new algorithm that exploits a monocular camera to localise the aircraft and track the taxi lines.
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