The problem considered in this paper involves the design of a vision-based autopilot for small and micro Unmanned Aerial Vehicles (UAVs). The proposed autopilot is based on an optic flow-based vision system for autonomous localization and scene mapping, and a nonlinear control system for flight control and guidance. This paper focusses on the development of a real-time 3D vision algorithm for e...

Presently, flight systems designed to perform payload -centric maneuvers require preconstructed procedures and special hand-tuned guidance modes. To enable intelligent maneuvering via strong coupling between the goals of payload-directed flight and the autopilot functions, there exists a need to rethink traditional autopilot design and function. Research into payload directed flight examines se...

Based on a biorobotic approach developed in our laboratory over the past 25 years, we have designed and built several terrestrial and aerial vehicles controlling their position and speed on the basis of optic flow cues (Franceschini et al. 1992, Viollet and Franceschini 1999, Ruffier and Franceschini 2005, Franceschini et al. 2007, Kerhuel et al. 2010). In particular, in our project on the auto...

A recently developed approach to the control of uncertain nonlinear systems uses neural network technology to improve upon feedback linearization. In the proposed architecture, a neural network adaptively cancels linearization errors through on-line learning. One feature which distinguishes this approach is its use of Lyapunov stability theory to guarantee closed-loop stability. In this paper, ...

For these preliminary design studies, a pareto genetic algorithm was used to manipulate a solid rocket design code, an aerodynamic design code, and a three-loop autopilot to produce interceptor designs capable of defeating two different target scenarios. The first scenario is a ground-launched interceptor engaging a high-speed/high-altitude target like a re-entry vehicle. The second scenario is...

The fuzzy switched PID controller which combines fuzzy PD and conventional PI controller is proposed for ship track-keeping autopilot In this paper. By using rudder angle, the whole voyage is divided into two operating regimes which named transient operating regime and steady operating regime respectively. The fuzzy PD controller is employed in transient operating regime for increasing response...

The paper presents an analytical approach to the design of PID controllers by combining pole placement with symmetrical optimum method, for the integration plus first-order plant model. The desired closed-loop transfer function (c.l.t.f.) contains a second-order oscillating system and a lead-delay compensator. It is shown that the zero value of c.l.t.f. depends on the real-pole value of c.l.t.f...

This paper presents a new practical autopilot design approach to acceleration control for tail-controlled skid-to-turn (STT) missiles. The approach is novel in that the proposed parametric affine missile model adopts acceleration as the controlled output and considers the couplings between the forces as well as the moments and control fin deflections. The aerodynamic coefficients in the propose...

In this paper, we derive the sufficient and necessary stability conditions for rolling missiles with velocity orientation autopilot. For mathematical derivation, linear time-invariant models are established. Structures of autopilot nonrolling introduced. addition, effects structure parameters on discussed. Furthermore, methods associated actuator dynamics, static decoupling presented to improve...