Yi-Hsuan Chen

Yi-Hsuan Chen

PhD student at UMD in Aerospace Engineering

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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.

Pages

Posts

Future Blog Post

less than 1 minute read

Published:

This post will show up by default. To disable scheduling of future posts, edit config.yml and set future: false.

Blog Post number 4

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 3

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 2

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 1

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

portfolio

projects

Fault Tolerant Control of a quadrotor under actuator failures

Undergraduate Research, National Cheng Kung University (NCKU), Intelligent Embedded Control (IEC) Lab, Department of Aeronautics and Astronautics, 2018

The objective is to design a flight control algorithm for a quadrotor and study further how to recover control in the presence of single rotor loss.

Dual-spin Stabilization of a satellite

Graduate Course Project, University of Maryland, ENAE646-Advanced Dynamics, 2023

This goal of this project is to analyze the motion of a torque-free rigid body and determine its trajectory in the inertial frame.

Design of Longitudinal Control for Reduced-G Atmospheric Flight

Master Thesis Research, KAUST, RISC Lab, Department of Mechanical Engineering, 2023

This work proposed a triple-integral flight control framework for a zero-gravity flight using a proof-mass-tracking approach. A triple-integral control strategy is adopted to overcome unknown, quadratically increasing drag. Furthermore, to avoid the non-minimum phase characteristics of aircraft longitudinal dynamics (see below), the position deviation from the inertial reference is redefined such that the closed-loop system is minimum phase.

Fast-Planner ROS2 Implementation, and Multiple AprilTags Detection and Navigation

Graduate Course Project, University of Maryland, ENAE788M-Hands on Aerial Robotics, 2024

This project aims to detect AprilTag positions and use a planner to generate the drone’s trajectory. We use multiple AprilTags to provide waypoints for the drone, leveraging the tracking camera’s video feed for detection. The Fast-Planner is used to plan a safe, kinodynamically feasible trajectory based on these waypoints. The flight tests were done with a Modal AI VOXL2 drone at UMD Brin Family Aerial Robotics Lab.

publications

Adaptive Observer-Based Fault Detection and Fault-Tolerant Control of Quadrotors under Rotor Failure Conditions

Published in Applied Science, 2020

The objective is to design a flight control algorithm for a quadrotor and study further how to recover control in the presence of single rotor loss. The error transformation and reconfiguration techniques combined with sacrificing yaw control are applied to realize fault-tolerant control under actuator failures. The input saturation is not considered in our case.

Recommended citation: Lien, Y. H., Peng, C. C., & **Chen, Y. H. (2020)**. Adaptive observer-based fault detection and fault-tolerant control of quadrotors under rotor failure conditions. Applied Sciences, 10(10), 3503. https://www.mdpi.com/2076-3417/10/10/3503

Design of Longitudinal Control for Reduced-Gravity Atmospheric Flights

Published in AIAA SCITECH 2023, 2023

Parabolic flights are one way to simulate microgravity on Earth, which can be achieved by making aircraft follow specific flight trajectories. This work describes a kinematic and dynamic analysis of general partial gravity cases and develops a flight control framework for a zero-gravity flight using a proof-mass-tracking approach. A triple-integral control structure is adopted to overcome unknown, quadratically increasing drag. Furthermore, to avoid the non-minimum phase characteristics of aircraft longitudinal dynamics, the position deviation from the inertial reference is redefined such that the closed-loop system is minimum phase.

Recommended citation: Chen, Y. H., & Feron, E. (2023). Design of Longitudinal Control for Reduced-Gravity Atmospheric Flights. In AIAA SCITECH 2023 Forum (p. 0218). https://arc.aiaa.org/doi/epdf/10.2514/6.2023-0218

talks

teaching