The design of reliable navigation and control systems for Unmanned Aerial Vehicles (UAVs) based only on visual cues and inertial data has many unsolved challenging problems, ranging from hardware and software development to pure control-theoretical issues. This paper addresses these issues by developing and implementing an adaptive visionbased autopilot for navigation and control of small and m...

In this paper, we compare three different control methodologies for helicopter autopilot design: linear robust multi-variable control, fuzzy logic control with evolutionary tuning, and nonlinear tracking control. The control design is based on nonlinear dynamic equations with a simplified thrust-torque generation model valid for hovering and low velocity flight. We verify the controller perform...

In previous papers we have presented some new methods for discretization of real value attributess8]. These methods are eecient on relatively large data tables. This paper concentrates on applications of our method for control problems. We demonstrate applications of our approach to the following two control problems: inverted pendulum balancing 3], and aircraft steering (autopilot))8].

Traditionally, missile autopilots have been designed using linear control approaches with gain scheduling. Autopilot design is typically carried out in the frequency domain and the plant is linearized around various operating points on the trajectory. Moreover, three single axis autopilots are usually designed without considering the interaction among the motion axes, i.e., the autopilots in ea...

Speaking of a fully submerged hydrofoil craft, all the hydrofoils attached to the foilstruts of the craft body are fully submerged in the water, so that the disturbing wave forces acting on the hydrofoils are very small in their foilborne cruising compared with the forces on the surface piercing hydrofoils. Therefore, the fully submerged hydrofoil craft gives us a very comfortable riding. On th...

Phylogentic analysis is becoming an increasingly important tool for customized drug treatments, epidemiological studies, and evolutionary analysis. The TCS method provides an important tool for dealing with genes at a population level. Existing software for TCS analysis takes an unreasonable amount of time for the analysis of significant numbers of Taxa. This paper presents the TCS algorithms a...

A computer-aided design software package for nonlinear control synthesis is discussed. The software incorporates five different modern nonlinear control methods. The versatility of the software lies in its ability to develop nonlinear controllers using a simulation model. As a result, models of arbitrary complexity can be used in the control law development. The use of the design software is il...