The fuzzy sliding mode control based on the multi-objective genetic algorithm is proposed to design an altitude autopilot of UAV. This case presents an interesting challenge due to the non-minimum phase characteristic, nonlinearities and uncertainties of the altitude to elevator relation. The responses of this autopilot are investigated through various criteria such as, the time response charac...

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...

A robust adaptive autopilot for uninhabited surface vehicles (USV) based on a model predictive controller (MPC) is presented in this paper. The novel autopilot is capable of handling sudden changes in system dynamics. In real life situations, very often a sudden change in dynamics results in missions being aborted and the uninhabited vehicles have to be rescued before they cause damage to other...

Abstract: Along with increasing marine transportation and logistics, the ship autopilot has become much important not only to lower the seaman's operating intensions, but also to reduce the seaman's deployment. It is still a challenge to design ship course-keeping controller because of ship's uncertain dynamics and time-varying environmental disturbance. This study focuses on backstepping adapt...

This paper presents the air-to-air missile autopilot design for a 180° heading reversal maneuver during boost-phase. The missile’s dynamics are linearized at a set of operating points for which angle of attack controllers are designed to cover an extended flight envelope. Then, angle of attack controllers are designed for this set of points, utilizing a pole-placement approach. The controllers’...

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...

Hybrid system theory lies at the intersection of the fields of engineering control theory and computer science verification. It is defined as the modeling, analysis, and control of systems that involve the interaction of both discrete state systems, represented by finite automata, and continuous state dynamics, represented by differential equations. The embedded autopilot of a modern commercial...

With increasing marine transportation and logistics, the ship autopilot has become much more important not only to lower the seaman's operating intensions, but also to reduce the seaman's deployment. It is still a challenge to design ship coursekeeping controller because of ship's uncertain dynamics and time-varying environmental disturbance. This study focuses on backstepping adaptive course-k...

SUMMARY A stable minimum phase transfer function from rudder angle to yaw angle is used to design a globally convergent adaptive ship autopilot. 1st-order wave disturbances in yaw are ltered by applying a notch lter. Integral action is introduced by augmenting the plant. Global convergence is proven for the total system which include the observer, the parameter update law, the feedback controll...

This paper describes a recently developed architecture for a Hardware-in-the-Loop simulator for Unmanned Aerial Vehicles. The principal idea is to use the advanced modeling capabilities of Simulink rather than hard-coded software as the flight dynamics simulating engine. By harnessing Simulink’s ability to precisely model virtually any dynamical system or phenomena this newly developed simulato...