The application of a new nonlinear robust control strategy to the design of missile autopilots is presented. The control approach described and demonstrated here is based upon the numerical solution of the Hamilton-Jacobi-Isaacs equation by Successive Galerkin Approximation. Using this approach, feedback controllers are computed by an iterative application of a numerical Galerkin-type PDE solve...

This paper presents an introduction to capturing software requirements in the PVS formal language. The object of study is a simpli ed digital autopilot that was motivated in part by the mode control panel of NASA Langley's Boeing 737 research aircraft. The paper rst presents the requirements for this autopilot in English and then steps the reader through a translation of these requirements into...

Equipping a fixed wing unmanned air vehicle (UAV) with low-level autopilots, we derive high-level velocity and roll angle control laws for the UAV. Backstepping techniques are applied to design the velocity and roll angle control laws from known velocity and heading angle control laws that explicitly account for velocity and heading rate constraints of the UAV. Regarding unknown autopilot const...

The objective of this paper is to describe the design and implementation of a small semiautonomous fixed-wing unmanned air vehicle. In particular we describe the hardware and software architectures used in the design. We also describe a low weight, low cost autopilot developed at Brigham Young University and the algorithms associated with the autopilot. Novel PDA and voice interfaces to the UAV...

This paper presents nonlinear, singularity-free autopilot designs for multivariable reduced-attitude control of fixed-wing aircraft. To roll and pitch angles, we employ vector coordinates constrained to the unit two-sphere that are independent yaw/heading angle. The angular velocity projected onto this is enforced satisfy coordinated-turn equation. We exploit model structure in design prove alm...

A paper describes a method of motion control of the underwater robotic vehicle to the problem of trajectory tracking. A multidimensional non-linear model expresses the robot’s dynamics. Command signals are generated by an autopilot consisting of three independent controllers with a parameter adaptation law implemented. A quality of control is concerned without and in presence of environmental d...