California Institute of Technology

Xichen Shi

Soon-Jo Chung

Morteza Gharib

Yisong Yue

Animashree Anandkumar

Patrick Spieler

Stephanie Rider

Guanya Shi

Kyunam Kim

Christopher J Dougherty

Ellande Tang

Elena Sorina Lupu

Salar Rahili

Michael O'Connell

Marcel Veismann

A fixed-wing vertical take-off and landing (VTOL) vehicle configured with a composite adaptive nonlinear tracking controller that utilizes a real-time accurate estimation of the complex aerodynamic forces surrounding the wing(s) and rotors in order to achieve a high performance flight. The method employs online adaptation of force models, and generates accurate estimation for wing and rotor forces in real-time based on information from a three-dimensional airflow sensor. The novel three-dimensional airflow sensor illustrates improved velocity tracking and force prediction during the transition stage from hover to forward flight.

Airflow sensing based adaptive nonlinear flight control of a flying car or fixed-wing VTOL

Systems and methods for learning based control in accordance with embodiments of the invention are illustrated. One embodiment includes a method for training an adaptive controller. The method includes steps for receiving a set of training data that includes several training samples, wherein each training sample includes a state and a true uncertain effect value. The method includes steps for computing an uncertain effect value based on the state, computing a set of one or more losses based on the true uncertain effect value and the computed uncertain effect value, and updating the adaptive controller based on the computed set of losses.

Systems and methods for robust learning-based control during forward and landing flight under uncertain conditions

An automated flying transport vehicle that capitalizes on the strengths and complexities of a fixed and rotary winged aircraft. The air transport vehicle comprises a body aerodynamically designed to generate lift and a plurality of rotors that can generate lift as well as forward thrust from which a fixed wing portion of the air transport vehicle will begin to generate additional lift allowing for a sustained flight.

Autonomous flying ambulance

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Pasadena, CA, United States of America

Xichen Shi