Traditionally, missile autopilots have been designed using linear
control approaches with gain scheduling. Moreover, three single
axis autopilots are usually designed without considering the
interaction among the motion axes. Such designs cannot handle the
coupling among pitch-yaw-roll channels, especially under high
angles of attack occurring in high maneuver zones. In most research
studies, realistic factors like fin saturation, limitation of
gimbal freedom etc are not considered. Our research work
contributed a nonlinear multivariable approach to the design of an
autopilot for a realistic missile that overcomes these
difficulties. At first, exact input-output (IO) feedback
linearization and decoupling is carried out for the dynamic IO
characteristics of the inner rate loop of the pitch and yaw
channels. This enables the design of scalar linear controllers for
the inner rate loops. However performance deteriorates when the
plant model is perturbed, due to aerodynamic uncertainties, from
the nominal model. The robust IO linearization techniques are
developed using H_inf and sliding mode techniques.
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