InstituteofFlightSystemDynamics
Makinginnovationsflyincertifiedproductsofsmallandmedium-sizedaerospacecompanies
nAspartoftheTechnischeUniversitätMünchen’sDepartmentofMechanicalEngineering,wearedevotedtoanalyzingandmodifyingthedynamiccharacteristicsofaerialplatforms.Ourpassionateteamiscommittedtomaturecutting-edgetechnologiesthatarerequiredtoincepttheflightsystembehavioroftomorrow.
Prof.Dr.-Ing.FlorianHolzapfel
Contact
one+49.89.289.16061
Duringthelastyearswehaveacquiredalltheexperiencewhichisneededalongthewholeprocessofmakingcontrolideas
fly.Thisincludesmodelingandsystemidentification,controllerdesignandimplementationinrealaircraft.
Ourresearchareasarepresentedinthefollowingsections.Theresearchinfrastructureincludesseveralflightsimulators,testrigs,andmannedand
unmannedaircraft.Wehaveestablishedimportantpartnershipsandsynergies
withtopresearchinstitutionsandleadingindustrialplayersinthefieldofaerospace.Ourultimategoalisthedevelopmentandtheapplicationofinnovativeapproachestailoredtorealworldapplicationsandproducts,aswellastothedemandingchallengesoftomorrow.
FlightGuidanceandFlightControl
ResearchairplaneDiamondDA-42
Modernflightguidanceandcontrolsystemsneedtofulfillthegrowingrequirementsforsafety,performanceandautonomyinordertocomplywithcus-tomers’needs.Tothisend,novelmethodsandconceptsarebeingdevelopedatTUMFSDformannedaswellasforunmannedaerialvehicles.Thepracticalrelevanceoftheresultsforthespecificapplicationsisguaranteedthroughcontinuousevaluationoftheresearchduringflighttests.
Notableachievements2014-2015includethedevelopmentandtestingofanintegratedauto-flightcontrolsystemincorporatingwaypointbasedtrajectoryflight,autopilotfunctionalitiesanddirectlawfly-by-wirealgorithms.Aircraft-in-the-loopsimulationsusingtheactualinstitute’sDA-42aircraftandareal-time
simulationsetuphavebeenconductedtoverifythedevelopedalgorithmsandprepareupcomingflighttests.Noveladaptivecontrolalgorithmsthatenablecontrolledflightalonghighlyagileandnonlineartrajectoriesandinthepresenceofactuatorfaultshavebeendeveloped
andsuccessfullyflight-testedonmultirotorsystems.
Theflightcontrolandflightguidancegrouphassuccessfullycompletedseveralresearchprojectsandhasacquirednewcollaborationswiththeindustry.ProjectresultsandongoingresearchhavebeenpresentedatPARISAIRSHOW2015,AIRTEC2014and2015,ILA2014andvariousscientificconferences.
Projects
nAffordingsafe,highlyreliableandaffordableautomationforaerospacesystems(TUM-IAS)
nInner-loopadaptivestabilizationfora
multirotorusinganonlinearreferencemodel(DFG)
nDevelopmentofadaptiveandfault-tole-
rantcontrolalgorithmswithguaranteedperformanceandrobustness(BMWi)
nDevelopmentofanautopilotusinga
modulararchitectureforCS-23aircraftandmodel-baseddevelopmentoffunctionalalgorithmsforsafetycriticalsystems(BMWi)
nTotalcapabilityapproachtohighlyaccurateandsafeguidanceappliedtoanautomaticlandingsystem(BMWi)
nDevelopmentofanautopilotforRPAS
withfixed-wing,rotary-wingorhybridconfiguration(BMWi)
nDevelopmentoftheflightcontrolsys-
temforanunstabletaillessjet(industry)
nDevelopmentofinnovativeadaptiveflightcontrolalgorithmsfornon-minimumphasesystems(industry)
nModel-baseddevelopmentofacerti-
fiableavionicssystemforunmannedaerialvehiclesof5kgto2000kg(industry).
Unmannedhexarotorsystem
Modeling,Simulation,ParameterEstimation
andFlightSafety
TheresearchgroupModeling,Simulation,ParametersEstimationandFlightSafetyfocusesonthemodelingofflightvehiclesystemsontheonehandandpredictiveanalysistoolsontheotherhand.Theparameterestimationapproachisbasedonmeasuredinputandoutputdataoftherealsystem.Flightvehiclesystemidenti-ficationfocusesontheaircraftdynamicsandonmodelingtheforcesandmomentsactingonit.Theresultisavalidatedmodelwithknownuncertaintybounds
thatisreliableinaknownregionoftheflightenvelope.Systemidentificationtechniquesallowcomparisonandcom-binationofdynamicmodelsfromverydifferentsources,e.g.fromflighttestdata,windtunneltestsorcomputationalfluiddynamics,leadingtoveryaccurateresults.Thesystemidentificationgroupfocuses
onunmannedaerialsystemsandgeneralaviationaircraft.Indoingso,thegroupiscontributingtomanyprojects.Thisin-cludesthemodelingoffixedwingaircraft,helicopterandmulticoptersystems.Theidentifiedmodelswereused,forexample,asthebasisforthemodel-baseddesignofflightcontrolsystemsandasflightdynamicsmodelinhighfidelityflightsimulators.
Theflightsafetypartfocusesonthequantificationofincidentprobabilitiesfor
agivenairlinebasedoninformationabouttheflightoperation.Predictiveanalysis,whichisconductedatourinstitute,referstomakingaquantitativestatementabout
afuturestateorconditionbased
onpreviousexperienceorknowledge.Itfocusesonquantifyingtheprobabilitiesofseriousincidentsforanindividualairline,whichareextremelysmall,yetnotequaltozero.Predictiveanalysiswillbeanintegralpartoftheboxoftoolsthatwillkeeptheskiesoftomorrowsafe!
Projects
nFutureSkySafety:developmentofariskobservatoryforthetotalaviationsystem(EU-H2020)
nResearchanddevelopmentofacore
simulationmodelforasmallaircraft
(industry)
nRobustin-flightidentification
(Bayr.Forschungsstiftung)
nRobustdetectionofsafetycriticaleventsinflightdata(ZIM)
nModulartrainingsimulatorsystemfor
UAS(ZIM)
TrajectoryOptimization
FALCON.m,FSDoptimalcontrolinMATLAB
IntheTrajectoryOptimizationResearch
GroupatFSD,optimalcontrolmethods
foraerospaceapplicationsareresearchedanddeveloped.Thesemethodsaretailoredtospecificapplications,mainlyfromthefieldofaerospace.Onepartoftheprocessisthemodelingofspecificcostfunctionsrepresentingthekeyperformanceindicatorsthatarerelevantforindustry.
Amongthesearethecalculationoffuelconsumption,flighttimesaswellasthemodelingofnoiseanditsperception
bytheinhabitantsaroundanairport.Additionally,multipleaircraftoptimiza-tionproblemshavebecomeafocusoftheresearchgroup.Intheseproblems,severalaircrafthavetoflythroughasharedairspacesectorminimizingtheenvironmentalimpactswhilealwaysmaintainingallsafetyboundaries.Of
course,inallapplicationsthecompliancewithaircraft-relatedenvelopeconstraintsaswellasregulatoryconstraintshastobeensured.
Theresultsachievedintheresearchprojectshavebeenusedtocreatescientificpublicationsandwereaddition-allycondensedintoasoftwaretool,
calledFALCON.m.Thistoolisplannedtobereleasedinearly2016tothegeneralpublicandwillenablethesolutionof
optimalcontrolproblemsindifferentfieldsofengineeringandsciencesallaroundtheworld.
Finally,aprojecthasbeenconductedinclosecooperationwiththeflightcontrolresearchgroupoftheinstituteandProf.Ben-AsherfromTechnion–IsraelInstituteofTechnology(Haifa,Israel).Withinthisproject,optimalcontrolmethodshavebeenusedtoperformaflightcontrollawclearance.Thisway,itcanbeproventhattheflightcontrolsystemisabletomain-
taintheaircraftwithinasecureenvelopeinanyconsideredflightcondition.
Additionalresearchtopicswerethe
solutionofoptimalcontrolproblemsinclud-ingdiscretecontrols.Furthermore,thecombinationofclassicaloptimalcontrolmethodswithalternativeapproacheswasinvestigated.InaDFGprojectstartedin
2015therobustsolutionofaircrafttrajec-toryoptimizationproblemsisresearched.
Projects
nSimulationofenvironmentalimpactsofaviationforairtrafficcontrollereducation(AiF)
nAdaptationofWORHPtoavionics
constraints(EU)
nRobustdynamicprogrammingapproachtoaircraftcontrolproblemswithdisturbances(DFG)
AvionicsandSafetyCriticalSystems
Traditionally,theresearchatFSDwasfocusedonfunctionsandalgorithms.WiththenewfocusonprototypingapplicationsystemswithsmallandmediumenterprisesasmainpartnersforUAS/RPASandgeneralaviationaircraft,implementationaspectshavegainedhighimportance.Withthecost,weight,volumeandotherconstraintsofthemarketsaddressedandthelimitedpersonalandfinancialresourcesoftypicalSMEs,
atransferofsolutions,processes,com-ponentsandtoolsfromlargeandmilitaryaviationwouldleadtoagiganticfailure.Basedonthespecificrequirementsofthemarketconsideredandutilizingdisruptivetechnologiesandinnovationsfromnon-aerospacedomains,tailoredprocesses,toolsandsolutionsarerequired.Researchfocusesaremodel-baseddesignoffunc-tionalalgorithmsforguidance,navigationandcontrolapplications,model-basedsafetyassessmentaswellasthedevelopment
ofavionicssystemarchitecturesandthecontributingcomponents(flightcontrolcomputers,dataconcentratorunits,electro-mechanicalactuators,navigationsystemsandpowersystemcomponents).Thework
isaccomplishedinclosecollaborationwithhighlyinnovativeSMEs,manufacturersofRPASandgeneralaviationaircraftaswell
astoolvendors.
TheFSDhasgainednovelcapabilitiesinfailuresimulationwithminimaladditionalmodelingeffort,reducingtheworkloadforsafetyassessmentandsystemintegration.
Projects
nDevelopmentofcertifiableflightcontrolsystemarchitecturesforRPASupto
150kgMTOW(ZIM)
nDevelopmentofinternallyredundantelectro-mechanicalactuatorswithbackupflightcontrolcapabilities(ZIM)finishedin2015
nEnhancementsonmodel-based
developmentprocessesandtoolsforflight-worthycertifiablesoftware
nDevelopmentofcertifiableflightcontrol
systemarchitecturesforRPASabove
150kgMTOW(industry)
nDevelopmentofasystemandsoftwaredevelopmentprocessforcertifiableavionics(industry)
nPhysicalmodelingandsimulationof
avionicssystemsfailurebehavior
nAssistedmodelvalidationagainstsafetyrequirementsusingfailuresimulation(ZIM)finishedin2015
nTool-assistedplanningdocuments
generationforsafetycriticalapplication
(ZIM)startedin2015
Sensors,NavigationandDataFusion
Navigationsystemsandsensorsprovideessentialinformationonaircraftstaterequiredforflightcontrolandguidance,suchaspositionandangularrate.Conse-quently,theperformanceofflightcontrolgreatlydependsonnavigationaccuracy.
Inaddition,safeandsuccessfulmissionaccomplishmentrequireshighavailabilityandrobustnessofnavigationwithrespecttofaultsordisturbances.
Fromthecombinationofvarioussatellitenavigation,tothedevelopmentoffault-to-lerantADAHRSalgorithms,theNavigationResearchGroupatFSDthedevelopment
andstudiesapplicationofinnovativemethodsinthefieldofnavigation.In
2015,thenavigationgroupestablishedanInertialSensorTestfacilitythatwillboostresearchinthefieldofinertialsensorcalibrationanderrorestimation.
Projects
nMulti-GNSSnavigation
nInertialLaboratory
nSurface,imageandmodel-aidednavigation
nFault-tolerantADAHRS
Three-axismotionsimulatorforinertialsensortesting
ResearchFocus
nFlightguidanceandflightcontrol
nModeling,simulation,parameterestimationandflightsafety
nTrajectoryoptimization
nAvionicsandsafetycriticalsystems
nSensors,navigationanddatafusion
Competence
nSimulationofaerospacesystems
nDevelopmentofGNCfunctionsinaccordancetoaerospacestandards
nTrajectoryoptimizationunderapplica-
tionrelevantconstraints
nAirlineoperationalsafetyassessment
Infrastructure
nMultiplefixedandrotarywingUAS/RPAS
nThreeflightsimulators(fromresearchto
level6FTD)
nTwomannedresearchaircraftservingasflyingtestbed;oneofthemwithactiveaccesstoflightcontrols
nHILtestbenches
Courses
nIntroductiontoFlightSystemDynamicsandFlightControl
nFlightSystemDynamicsI/II
nFlightControlI/II
nFlightGuidanceI
nDevelopmentofFlightControlSystems
nNonlinearAdaptiveFlightControl
nFlightDynamicsChallengesofHighly
AugmentedAircraftI/II
nAircraftTrajectoryOptimization
nNavigationandDataFusion
nFlightSystemIdentificationandPara-meterEstimation
nFundamentalsofPracticalFlightLab
nFlightGuidanceLab
nFlightTestingLab
nFlightControlLab
nOptimalControlLab
Management
Prof.Dr.-Ing.FlorianHolzapfel,DirectorProf.Dr.-Ing.Dr.h.c.GottfriedSachs(ret.)Prof.Dr.-Ing.OttoWagner
Dr.-Ing.MatthiasHeller
AdjunctProfessors/LecturersDr.-Ing.Dipl.-Math.techn.JohannDambeck
Dr.-Ing.MatthiasHeller
AdministrativeStaff
MonicaKleinoth-Gross
ResearchScientistsSravanAkkinapalli,M.Sc.Dipl.-Ing.ThaddäusBaier
FedorBaklanov,M.Sc.(Scholar)Dipl.-Ing.BernhardBaur(Scholar)
Dipl.-Ing.MagnusBichlmeier(Scholar)Dipl.-Ing.MatthiasBittner
ChristopferBlum,M.Sc.
Dipl.-Ing.BenjaminBraun(until12.2013,thenexternal)
Dipl.-Ing.StanislavBraunYahaoCheng,M.Sc.(Scholar)FarhanaChew,M.Sc.(Scholar)Dipl.-Ing.JohannesDiepolderDipl.-Ing.ChristophDörhöferDipl.-Ing.LudwigDrees
Dipl.-Ing.ChristianEitner(until02.2014,thenexternal)
Dipl.-Ing.GuillermoFalconí
Dipl.-Ing.TimFricke,IngénieurSupaéro
Dipl.-Ing.AgnesGabrysDipl.-Ing.MarkusGeiserDipl.-Ing.LorenzGörcke
Dipl.-Ing.ChristophGöttlicher,M.Sc.BenediktGrüter,M.Sc.
Dipl.-Ing.StefanHager
AkinoriHarada,M.Eng.(Scholar,visiting
PhDstudent)
Dipl.-Ing.ChristianHeise(Scholar)Dipl.-Ing.MarkusHochstraßerLukasHöhndorf,M.Sc.
Dipl.-Ing.MarkusHornauer(Scholar)Dipl.-Ing.AndreasJaros(until08.2014,thenexternal)
Dipl.-Ing.ErikKarlssonChristophKrause,M.ScPhillipKoppitz,M.Sc.
Dr.-Ing.MichaelKriegelMartinKügler,M.Sc.Dipl.-Ing.PatrickLauffs
MiquelLeitao,M.Sc.(Scholar)Dipl.-Ing.JakobLenz
Dipl.-Ing.DavidLöbl
ArnabMaity,PhD
Dipl.-Ing.MaximilianMühlegg
Dipl.-Ing.NilsMumm
Dipl.-Ing.KajetanNürnberger
Dipl.-Ing.FlorianPeter(until08.2014,thenexternal)
Dipl.-Ing.LarsPeter
M.Sc.PhilippePetit
IdrisPutro,M.Sc.(Scholar)Dipl.-Ing.ThomasRafflerDipl.-Ing.MaximilianRichter
Dipl.-Ing.MatthiasRieck(Scholar)SimonSchatz,M.Sc.
Dipl.-Ing.VolkerSchneider
Dipl.-Ing.JulianSchreder
Dipl.-Ing.ChristopherSchropp
Dr.-Ing.FalkoSchuck(until10.2013)JeanetteSeewald,M.Sc.
JavensiusSembiring,M.T.(Scholar)Dipl.-Ing.PhilipSpiegel
LukasSteinert,M.Sc.(Scholar)Dipl.-Ing.DavidTromba
ChongWang,M.Sc.JianWang,M.Sc.ZhongjieWang,M.Eng.
Dipl.-Ing.MichaelWeingartner(until
09.2013,thenexternal)Dipl.-Ing.AlexanderWille
Dipl.-Ing.PhilipWolze(until05.2014,thenexternal)
Dipl.-Ing.SimonaWulfFubiaoZhang,M.Eng.AlexanderZollitsch,M.Sc.
Publications2015
nBittner,Matthias;Rieck,Matthias;Grüter,Benedikt;Holzapfel,Florian(2015):OptimalConflictFreeApproachTrajectoriesforMultipleAircraft.In:ENRIInt.WorkshoponATM/CNS(EIWAC).Tokyo,Japan.
nFalconí,GuillermoP.;Heise,Christian;Holzapfel,
Florian(2015):Fault-TolerantPositionTrackingofaHexacopterusinganExtendedStateObserver.In:6thInternationalConferenceonAutomation,RoboticsandApplications(ICARA).Queenstown,NewZealand,17-19Feb.2015.
nFelux,Michael;Lee,Jiyun;Holzapfel,Florian(2015):
TotalSystemPerformanceinGBAS-basedlandings.In:ProceedingsofthePacificPNT.Honolulu,HI,USA.
nFricke,Tim;Paixão,Vítor;Loureiro,Nuno;Costa,
RuiM.;Holzapfel,Florian(2015):BrainControlofHorizontalAirplaneMotion–AComparison
ofTwoApproaches.In:AIAAAtmosphericFlight
MechanicsConference.Kissimmee,Florida.
nGrüter,Benedikt;Bittner,Matthias;Rieck,Matthias;Holzapfel,Florian;Harada,Akinori(2015):Alloca-tion,SequencingandTrajectoryforAircraftUsingSuperimposedNavigationandOptimalControl.In:ENRIInt.WorkshoponATM/CNS(EIWAC).Tokyo,Japan.
nHeise,Christian;Holzapfel,Florian(2015):Uniform
UltimateBoundednessofaModelReferenceAdaptiveControllerinthePresenceofUnmatchedParametricUncertainties.In:6thInternationalCon-ferenceonAutomation,RoboticsandApplications(ICARA).Queenstown,NewZealand,17-19Feb.
2015.
nHellmundt,Fabian;Maier,Rudolf;Leitao,Miguel;Heise,Christian;Holzapfel,Florian(2015):Perfor-manceAssessmentofL1AdaptiveAugmentationStrategiesforanEnhancedLongitudinalF16
AircraftModel.In:EuroGNC.Toulouse,France,
13.04.2015-15.04.2015.
nHellmundt,Fabian;Wildschek,Andreas;Maier,Rudolf;Osterhuber,Robert;Holzapfel,Florian(2015):ComparisonofL1AdaptiveAugmentationStrategiesforaDifferentialPIBaselineController
onaLongitudinalF16AircraftModel.InJoëlBorde-neuve-Guibé,AntoineDrouin,ClémentRoos(Eds.):AdvancesinAerospaceGuidance,NavigationandControl.Cham:SpringerInternationalPublishing,pp.99-118.
nLöbl,David;Holzapfel,Florian(2015):SubsetSimu-lationforEstimatingSmallFailureProbabilitiesofanAerialSystemSubjecttoAtmosphericTurbulences.In:AIAAAtmosphericFlightMechanicsConference.Kissimmee,Florida.
nMühlegg,Maximilian;Holzapfel,Florian;Chow-
dhary,Girish(2015):TrustingLearningBasedAdaptiveFlightControlAlgorithms.In:Self-Confi-denceinAutonomousSystems(inAssociationfortheAdvancementofArtificialIntelligence(AAAI)
2015FallSymposium).Arlingtion,USA.
nMühlegg,Maximilian;Niermeyer,Philipp;Falconí,GuillermoP.;Holzapfel,Florian(2015):L1FaultTolerantAdaptiveControlofaHexacopterwithControlDegradation.In:IEEEConferenceonControlApplications(CCA).Sydney,Australia.
nNiermeyer,Philipp;Raffler,Thomas;Holzapfel,Flo-
rian(2015):Open-LoopQuadrotorFlightDynamicsIdentificationinFrequencyDomainviaClosed-LoopFlightTesting.In:AIAAGuidance,Navigation,andControlConference.Kissimmee,Florida.
nRieck,Matthias;Bittner,Matthias;Grüter,Benedikt;
Holzapfel,Florian(2015):GenerationofdynamicmodelswithautomaticallygeneratedderivativesforATMoptimalcontrolinMATLAB.In:ENRIInt.WorkshoponATM/CNS(EIWAC).Tokyo,Japan.
nSchatz,SimonP.;Yucelen,Tansel;Gruenwald,
BenjaminC.;Holzapfel,Florian(2015):ApplicationofaNovelScalabilityNotioninAdaptiveControl
toVariousAdaptiveControlFrameworks.In:AIAAGuidance,Navigation,andControlConference.Kissimmee,Florida.
nWang,Jian;Raffler,Thomas;Holzapfel,Florian
(2015):HighVelocityPathControlofQuadrotors.In:AIAAGuidance,Navigation,andControlConfer-ence.Kissimmee,Florida.
nZhang,Fubiao;Holzapfel,Florian(2015):Flight
ControlUsingPhysicalDynamicInversion.In:AIAAGuidance,Navigation,andControlConference.Kissimmee,Florida.
nZollitsch,Alexander;Holzapfel,Florian;Annaswamy,
A.(2015):ApplicationofAdaptiveControlwithClosed-LoopReferenceModelstoaModelAircraftwithActuatorDynamicsandInputUncertainty.In:AmericanControlConference.Chicago,IL,USA,July1-3,2015,pp.3848-3853.