The missile autopilot was designed using linear parameter-varying (LPV) control techniques. The controller provides exponential stability guarantee and performance bound in terms of induced L2 norm for the missile plant. The systematic gain-scheduling approach is motivated by the recent development in LPV control theory and provides a well founded and systematic procedure for high performance m...

This research describes a Hardware in the Loop Simulator (HILS) that was developed to enhance the quality of attitude data received from autopilots. The described system aided in adjusting the contribution of individual IMU sensors and thereby improved the accuracy of IMU data. The HILS system outlined in this research is a gimbaled platform equipped with four stepper motors and two optical sha...

By P. K. Menon and E. J. Ohlmeyer Abstract Recent threat assessments by the US Navy have indicated the need for improving the accuracy of defensive missiles. This objective can only be achieved by enhancing the performance of the missile subsystems and by finding methods to exploit the synergism existing between subsystems. As a first step towards the development of integrated design methodolog...

In our ongoing project on the autonomous guidance of Micro-Air Vehicles (MAVs) in confined indoor and outdoor environments, we have developed a bio-inspired optic flow based autopilot enabling a hovercraft to travel safely, and avoid the walls of a corridor. The hovercraft is an air vehicle endowed with natural roll and pitch stabilization characteristics, in which planar flight control can be ...

Autonomous soaring capability has the potential to significantly increase time aloft for fixed-wing UAVs. In this paper, we introduce ArduSoar, the first soaring controller integrated into a major autopilot software suite for small UAVs. We describe ArduSoar from the algorithmic standpoint, outline its integration with the ArduPlane autopilot, and discuss tuning procedures and parameter choices...

High-performance computing is rapidly expanding to include distributed collections of heterogeneous sequential and parallel systems and irregular applications with complex, data dependent execution behavior and time varying resource demands. To provide adaptive resource management for dynamic applications, we are developing the Autopilot toolkit. Autopilot provides a exible set of performance s...