Papers by Mohsen Zahmatkesh
2025 European Conference on Mobile Robots (ECMR), 2025
Intelligent control has been extensively applied to aerial robots, which is important for autonom... more Intelligent control has been extensively applied to aerial robots, which is important for autonomous flight applications. However, it is susceptible to noise and uncertainties when integrating different sensors and nonlinear aerial robot dynamics. This paper proposes a robust, neural network-based adaptive hybrid control framework for a unified position and orientation tracking in Hexarotors. The proposed framework is considered for receiving uncertain data from altitude and orientation sensors. It further tackles estimating these timevarying noises, uncertainties, and unmodeled dynamics by synergistically integrating a second-order sliding mode control (SMC) with radial basis function neural networks (RBFNNs). The RBFNN-augmented SMC dynamically adapts control commands, with stability proven via the Lyapunov method. These advancements ensure a simultaneous and accurate position and orientation tracking under varying conditions. The framework is validated through extensive software and hardware in the loop (SIL/HIL) simulations, showcasing significant improvements in tracking accuracy, disturbance rejection, and adaptability compared to traditional methods.
arXiv (Cornell University), Feb 21, 2023
A detailed literature review is performed in this study to address solutions for the full-body de... more A detailed literature review is performed in this study to address solutions for the full-body design and control of an aerial manipulator. Deep Reinforcement Learning methods are growing to be utilized recently to cope with various uncertainties. The pros and cons of these theories will be explained as well as introducing the advantages of Fuzzy Reinforcement Learning methods. State-of-the-Art, possible challenges, potential approaches, and a summary of desired precision devices are discussed in this study.
Actuators
Attitude control of a novel regional truss-braced wing (TBW) aircraft with low stability characte... more Attitude control of a novel regional truss-braced wing (TBW) aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications, particularly, autonomous flight control. However, a significant predicament confronting discrete RL algorithms is the dimension limitation of the state-action table and difficulties in defining the elements of the RL environment. To address these issues, in this paper, a detailed mathematical model of the mentioned aircraft is first developed to shape an RL environment. Subsequently, Q-learning, the most prevalent discrete RL algorithm, will be implemented in both the Markov Decision Process (MDP) and Partially Observable Markov Decision Process (POMDP) frameworks to control the longitudinal mode of the proposed aircraft. In order to eliminate residual fluctuations that are a consequence of discrete action selection, and simultaneously trac...
Attitude control of a novel regional truss-braced wing aircraft with low stability characteristic... more Attitude control of a novel regional truss-braced wing aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications, particularly, autonomous flight control. However, a significant predicament confronting discrete RL algorithms is the dimension limitation of the state-action table and difficulties in defining the elements of the RL environment. To address these issues, in this paper, a detailed mathematical model of the mentioned aircraft is first developed to shape an RL environment. Subsequently, Q-learning, the most prevalent discrete RL algorithm will be implemented in both the Markov Decision Process (MDP), and Partially Observable Markov Decision Process (POMDP) frameworks to control the longitudinal mode of the air vehicle. In order to eliminate residual fluctuations that are a consequence of discrete action selection, and simultaneously track variable p...
Chaka: A High-performance, Cost-efficient, Semi-conventional Regional Jet Family
Having experienced a few years of profitability, the worldwide airline industry is on route to be... more Having experienced a few years of profitability, the worldwide airline industry is on route to being less lucrative. One radical contributor to this proclivity has been the increase in fuel prices and the accompanying unpredictability in this regard. Since the “Scope Clause” has restrained regional airline fleets in the past, and that these fleets will retire in the approaching couple of years, based upon 30-year average lifetime of an airplane, the airlines’ demand for this type of aircraft will have risen by 2030. Moreover, the COVID-19 crisis has shattered future industrial plans, especially in the aviation industry. Having struggled to survive, airlines are obliged to develop new strategies in order to prosper in the forthcoming years. In response to the 2021 American Institute of Aeronautics and Astronautics (AIAA) graduate team aircraft design Request for Proposal (RFP), we at ShadX have the honor of introducing Chaka1 Modern Regional Jet (MRJ) family, a novel approach to regional jet (RJ) design and resolving the need for new regional jet aircraft satisfying primarily the 50-seat portion of the market and secondarily the 76-seat portion of the market predicated upon the U.S. domestic “Scope Clause”. At ShadX, we maintain that the Chaka MRJ family has formidably met the RFP requirements and proved to be the optimal design of the future RJ aircraft thanks to its staggering fuel burn efficiency. Not only has the Chaka-50 manifested to possess 22.32% and 27.07% abatement in fuel burn compared to its foremost current competitive aircraft (the ERJ-145XR) in terms of 500 and 1000 nmi block fuel per seat, respectively, but also the Chaka-76 derivative has demonstrated to have 21.8% and 27.21% less fuel burn compared to its finest competitive aircraft (ERJ170-100AR) in terms of the aforementioned, respectively. That is why the Chaka MRJ family is a promising design, based on systems engineering approach, to play an essential role in resolving the aforesaid quandary. Achieving this, the Chaka-50 had to undergo 4.6% propulsion improvement, 15% empty weight reduction, and 42.8% ameliorated aerodynamic efficiency with respect to its best competitor. For the Chaka-76, the corresponding figures are 8.8%, 12.1%, and 42.8%, respectively. The aerodynamic amelioration observed in the Chaka family stems from the semi-conventional configuration of truss-braced wing, providing prospective customers and passengers with superb attractiveness and prospective manufacturers with Technology Readiness Levels (TRL) fitting for the year 2030.
Modern Regional Jet Family
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Papers by Mohsen Zahmatkesh