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...

In this paper, a new methodology to design robust sliding-PID tracking motion controllers for a certain class of nonlinear systems is presented. The methodology is based upon the combination of the conventional PID control, sliding-mode control in Filippov’s sense, and relative degree concepts. The tracking of desired motion trajectories is performed in the presence of nonlinearities, modeling ...

S. Mastrianni D. F. Bantz K. A. Beaty T. Chefalas S. Jalan G. Kar A. Kochut D. J. Lan L. O’Connell A. Sailer G. Wang Q. B. Wang D. G. Shea IT Autopilot is a flexible architecture to support the delivery of information technology (IT) systems management services. Complex services that involve several tools require integration between the tools and automated processes that can invoke multiple too...

Unmanned and autonomous systems require a great deal of human trust, especially in order to gain acceptance for high-risk mission applications. In the aerial domain, loss of vehicle control, crashing or leaving the safety of the designated range can present a hazard to human safety as well as property. This represents a key barrier in current safety review processes when considering an experime...

As the technological capabilities of automated systems have increased, the use of unmanned aerial vehicles (UAVs) for traditionally exhausting and dangerous manned missions has become more feasible. The United States Army, Air Force, and Navy have released plans for the increased use of UAVs, but have only recently shown interest in the cyber security aspect of UAVs. As a result, current autopi...

The article systematises and perform approaches the new concept of the ship autopilot in which control rules are derived for nonlinear controllers designed with the aid of the backstepping method and used for controlling the ship’s motion on its course. The objectives, approaches and problems were described. The design is very interesting has goals to create closed-loop systems with desirable s...

Uniform approach to selection of PID settings for heading and path tracking controllers that create a cascade control system ship autopilot is presented. Uniformity the design follows from observation each controlled plant looks like an integrator with time constant. In case controller, represented by known Nomoto model. Due elimination constant closed loop systems becomes 2nd order. One assume...

Interception problems are often dealt with by separating guidance and autopilot design. Guidance law can be obtained using optimal control theory and autopilot design is performed on a linearized system. In this paper, we introduce a new approach that determines a global guidance and autopilot law, based on direct output feedback design. Application of this method to exoatmospheric interception...

Aircraft designed for transporting one or two persons, much like a small personal car but flying in the air based on Bernoulli Principle and Newton’s laws, are called Personal Aerial Vehicles (PAVs). Due to high PAV traffic densities velocities at which PAVs fly, manual piloting of is seldom recommended. Hence, equipped with an inbuilt Autonomous Navigation Control System (ANCS), frees rider fr...