Integrated Nonlinear System Framework for Air Vehicle Autonomy Design and Validation

Physical systems such as air vehicles are inherently nonlinear and complex. A complete treatment of air vehicle from design, modeling, analysis, and simulation until control design for vehicle autonomy demands, therefore, application of tools from nonlinear dynamics and control theories. Blending dynamical systems theory and nonlinear control techniques provides a unique and physically intuitive methodology for developing control algorithms for various complex tasks. Our recent works on highly nonlinear aircraft models have led to the development of a generic simulation platform for guidance, control, and navigation of six degree-of-freedom (dof) air vehicles in a completely nonlinear framework. An overview of the nonlinear framework involved in the development of the unique platform and its applications to maneuvering and waypoint navigation of two vehicle models are presented in the paper.