Full-state single-loop and full-state two-loop autopilot-guidance designs are derived using a linear quadratic differential game formulation. To keep all the states at reasonable values throughout the end-game, a cost function that includes appropriate running cost terms on some of the states is proposed. It is proven that the two designs may be identical under a linear quadratic differential g...

Previously, we have looked at the stability augmentation system. This system can be seen as the inner loop of the aircraft control system. In this chapter, we focus on the outer loop: the control augmentation system. When we want to keep a certain pitch angle, velocity, roll angle, heading, or something similar, then we use the CAS. In this way, the pilot workload can be reduced significantly. ...

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...

We present a real-time hardware-in-the-loop (HIL) simulation environment for the validation of a new hierarchical path planning and control algorithm for a small fixed-wing UAV. The complete control algorithm is validated through on-board, realtime implementation on a small autopilot having limited computational resources. We present two distinct real-time software frameworks for implementing t...

This paper presents a survey of the autopilot systems for small or micro unmanned aerial vehicles (UAVs). The objective is to provide a summary of the current commercial, open source and research autopilot systems for convenience of potential small UAV users. The UAV flight control basics are introduced first. The radio control system and autopilot control system are then explained from both th...

-In this paper a design procedure for construction of reduced order unknown input observer, for linear time invariant system subjected to unknown input is presented based on generalized matrix inverse. Das & Ghosal observer is extended and used for this purpose. A condition is proposed and to be satisfied to develop such an observer. Finally an illustrative numerical example of a class of guide...

We propose a method of interpolating linear time-invariant controllers with observer state feedback structure in order to generate a continuously-varying family of controllers that stabilizes a family of linear plants. Gain scheduling is a motivation for this work, and the interpolation method yields guidelines for the design of gain scheduled controllers. The scheduling method is illustrated w...

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...

We present a new method to compute output gain-scheduled controllers for non-linear systems. We use structured H∞-control to pre-compute an optimal controller parametrization as a reference. We then propose three practical methods to implement a control law which has only an acceptable loss of performance with regard to the optimal reference law. Our method is demonstrated in longitudinal fligh...