Comparative Account of Robust H∞ Techniques for Missile Autopilot Design

Full Text (PDF, 942KB), PP.26-41

Views: 0 Downloads: 0


PSR Srinivasa Sastry 1,* SK Ray 1 G. Mallikarjuna Rao 1 S. K. Biswas 2

1. RCI, DRDO, Hyderabad, India

2. Dept. of Electrical Engineering, Jadavpur University, India.

* Corresponding author.


Received: 27 Aug. 2018 / Revised: 12 Oct. 2018 / Accepted: 18 Dec. 2018 / Published: 8 Apr. 2019

Index Terms

Robust control, autopilot, Missile control, Nonlinear control, Mixed Sensitivity, H∞ loop shaping, μ synthesis


H∞ control techniques are prominently used as solutions for flight control problems. From the literature, a variety of techniques is reported in the last three decades with specific merits and demerits, which, when applied to multiple flight control scenarios, showing trade off in terms of performance and robustness. However, all these methods possess superior performance when compared with that of classical approaches. In this paper an attempt is made to provide an insight into the requirements and criticalities in the design of missile autopilot. This paper introduces some of the significant H∞ control techniques like H∞ mixed sensitivity, H∞ loop shaping and μ synthesis, with specific emphasis on analysis of autopilot design. A comparative account of modern control methods is presented on the basis of system performance and robustness, which will be helpful in the selection of the appropriate design method for specific application.

Cite This Paper

PSR Srinivasa Sastry, SK Ray, G. Mallikarjuna Rao, S. K. Biswas, " Comparative Account of Robust H∞ Techniques for Missile Autopilot Design", International Journal of Image, Graphics and Signal Processing(IJIGSP), Vol.11, No.4, pp. 26-41, 2019. DOI: 10.5815/ijigsp.2019.04.03


[1] F. Peter, F. Hellmundt, F. Holzapfel, and F. Chew, “Anti-Windup Command Filtered Adaptive Backstepping Autopilot Design for a Tail-Controlled Air-Defense Missile,” pp. 1–19, 2013.

[2] M. R. Tucker, “Continuous H_INFTY and Discrete Time-Varying Finite Horizon Robust Control with Industrial Applications,” 1998.

[3] G. Zames, “Feedback and Optimal Sensitivity: Model Reference Transformations, Multiplicative Seminorms and Approximate Inverses,” IEEE Trans. Automat. Contr., vol. 26, no. 2, pp. 301–320, 1981.

[4] J. C. D. and E. B. L. C.C. Chu, “The General Distance Problem in Koo Optimal Control Theory,” Int. J. Control, vol. 44, pp. 565–596, 1986.

[5] B. D. O. A. and J. B. Moore, Optimal Control: Linear Quadratic Methods. 1989.

[6] E. M. K. and D. J. N. Limebeer, “Closed Formulae for a Parametric Mixed Sensitivity Problem,” Syst. Control Lett., vol. 12, pp. 1–7, 1989.

[7] A. Y. and I. Postlethwaite, “Improvement of Helicopter Handling Qualities Using -Optimisation,” in IEE Proceedings, Part D: Control Theory and Applications, 1990, pp. 115–129.

[8] S. S. and J. C. D. P. Lundstrom, “Two Degree of Freedom Controller Design for an Ill-Conditioned Plant Using u-Synthesis,” in Proceedings of the European Control Conference, 1993, pp. 969–974.

[9] N. P. F. and D. J. W. I. Postlethwaite, “Walker. Rotorcraft Control Law Design for Rejection of Atmospheric Turbulence,” in Proceedings of IEE Conference Control94, 1994, pp. 1284–1289.

[10] R. A. Hyde, H_INFTY Aerospace Control Design. A VSTOL Flight Application,” Adv. Ind. Control Ser., 1995.

[11] R. H. and D. J. N. L. D. Hoyle, “An H_INFINITY Approach to Two Degree-Of-Freedom Design,” in Proceedings of the IEEE CDC, 1991, pp. 1581–1585.

[12] E. M. K. and J. D. P. D.J.N. Limebeer, “On the Design of Robust Two Degree of Freedom Controllers,” Automatica, vol. 29, no. 1, pp. 157–168, 1993.

[13] D. J. Walker, “On the Structure of a Two Degree-of-Freedom H_INFTY Loop Shaping Controller,” Int. J. Control, vol. 63, no. 6, pp. 1105–1127, 1996.

[14] Bor-Sen Chen, Yung-Yue Chen, and Chun-Liang Lin, “Nonlinear fuzzy H/sub ∞/ guidance law with saturation of actuators against maneuvering targets,” IEEE Trans. Control Syst. Technol., vol. 10, no. 6, pp. 769–779, Nov. 2002.

[15] Sungyung Lim and J. P. How, “Modeling and H/sub∞/ control for switched linear parameter-varying missile autopilot,” IEEE Trans. Control Syst. Technol., vol. 11, no. 6, pp. 830–838, Nov. 2003.

[16] S. Theodoulis and G. Duc, “Static interpolated ℋ∞ loop-shaping controllers for missile autopilot synthesis,” in 2007 46th IEEE Conference on Decision and Control, 2007, pp. 2385–2392.

[17] M. Xin and S. N. Balakrishnan, “Nonlinear H ∞ missile longitudinal autopilot design with thetas-D method,” IEEE Trans. Aerosp. Electron. Syst., vol. 44, no. 1, pp. 41–56, Jan. 2008.

[18] A. Arrow and D. Williams, “Comparison of classical and modern autopilot design and analysis techniques for a tactical air-to-air bank-to-turn missile,” in Guidance, Navigation and Control Conference, 1987.

[19] B. Chen, Y. Chen, and C. Lin, “Nonlinear Fuzzy Guidance Law With Saturation of Actuators Against Maneuvering Targets,” vol. 10, no. 6, pp. 769–779, 2002.

[20] C.-D. Yang, C.-C. Yang, and H.-Y. Chen, “Missile Control,” in Wiley Encyclopedia of Electrical and Electronics Engineering, Hoboken, NJ, USA: John Wiley & Sons, Inc., 1999.

[21] D. Zhisheng, H. Lin, Y. Jianying, and Q. I. N. Guozheng, “On decoupled or coupled control of bank-to-turn missiles,” vol. 58, no. May, pp. 1–13, 2015.

[22] R. Sakthivel, K. Mathiyalagan, and S. M. Anthoni, “Fault-Tolerant Sampled-Data Mixed h 1 and Passivity Control of Stochastic Systems and its Application,” vol. 00, no. 00, pp. 1–10, 2015.

[23] I. Introduction, “Robust H ∞ Autopilot Design for Agile Missile With Time-Varying Parameters,” vol. 50, no. 4, 2014.

[24] F. S. Eve, “Pitch / Yaw Channels Control Design for a 155mm Projectile with Rotating Canards , using a H ∞ Loop-Shaping Design Procedure,” no. January, pp. 1–24, 2014.

[25] G. U. O. Chao, L. Xiao-geng, and L. U. O. Biao, “Nonlinear H ’ Guidance Law Design for Near Space Interceptor based on Galerkin Simultaneous Policy Update Algorithm,” pp. 636–641, 2014.

[26] F. Seve, S. Theodoulis, M. Zasadzinski, M. Boutayeb, and P. Wernert, “Fixed structure H Infinity Control for a canard-guided projectile pitch/yaw dynamics autopilot design,” in 2014 European Control Conference, ECC 2014, 2014, pp. 594–599.

[27] P. Norton and E. Prempain, “Robustness Analysis of Feedback Linearisation with Robust State Estimation for a Nonlinear Missile Model,” no. M, pp. 4220–4225, 2013.

[28] G. U. O. Chao, L. Xiao-geng, W. Jun-wei, and W. Fei, “Robust H ’ Decentralized Fuzzy Tracking Control for Bank-to-Turn Missiles,” pp. 3498–3503, 2013.

[29] D. Luo, B. M. Chen, and A. Bu, “The autopilot design of bank-to-turn missile using mixed sensitivity H f optimization equations as,” pp. 241–246, 2013.

[30] I. Control, “Tracking performance analysis of flight control system based on H-infinity theory Shuai Dong , Zhisheng Wang , Yongji Wang *, Lei Liu and Liuli Ou,” vol. 19, no. 3, pp. 290–298, 2013.

[31] C. Xianxiang, S. Jianmei, P. Ma, P. Ma, P. Ma, and P. Ma, “H f Robust Gain-Scheduled Autopilot Design for Portable Missile,” pp. 2322–2326, 2011.

[32] C. Lee, “Longitudinal Autopilot Design for Agile Turn Using Mixed H2 / HO Control,” 2011 11th Interational Conf. Control. Autom. Syst., pp. 294–298, 2011.

[33] W. Chen, Q. Wang, Y. Zhang, and C. Dong, “Network-Based H Infinity Output Tracking Control for Systems with Time-Varying Bounded Delay,” no. 1, pp. 2496–2499, 2011.

[34] Z. Li, J. Zhou, and J. Guo, “Study on Autopilot Dynamics with Robust Guidance Law and Terminal Constraint in Mechanical Engineering,” vol. 644, pp. 77–80, 2013.

[35] S. Automatique and P. De Moulon, “Self Scheduled H_INFTY loop shaping control of a missile.,” vol. 6, no. M, pp. 2–7, 2015.

[36] Z. Zhang, “Two-Degree Controller Design for Flexible Missile Based on H-inf Interference Suppression,” no. 5, pp. 1653–1656, 2012.

[37] S. P. Kanade and A. T. Mathew, “2 DOF H- Infinity Loop Shaping Robust Control for Rocket Attitude Stabilization,” vol. 2, no. 2, pp. 71–91, 2013.

[38] H. Lhachemi and D. Saussi, “A Robust and Self-Scheduled Longitudinal Flight Control System : a Multi-Model and Structured H ∞ Approach,” no. January, 2014.

[39] S. Jose and R. George, “Application of H ∞ and mu Synthesis Techniques for Reusable Launch Vehicle Control,” pp. 1–9, 2012.

[40] D. Shuai, W. Zhishen, L. Lei, O. Liuli, and W. Yongji, “Clearance of Flight Control Law Based on H-infinity Theory,” pp. 1293–1298, 2012.

[41] R. L. Pereira and K. H. Kienitz, “Design and application of gain-scheduling control for a Hover : parametric H ∞ loop shaping approach,” no. 1990, 2013.

[42] W. Zhang, B. Sun, L. Ou, and W. Zhang, “H2 analytical decoupling design for a High-Angle-of-Attack missile,” in Chinese Control Conference, CCC, 2013.

[43] S. Ji, J. Jang, J. Jeong, and Y. Kim, “The H ∞ Controller Design Including Control Allocation for Marine Vessel,” no. 1, pp. 1905–1907, 2012.

[44] Y. Chen, “Nonlinear H 2 Lateral Control Design of Missiles,” vol. 15, no. 6, pp. 1723–1735, 2013.

[45] J. Friang, G. Duc, and J. Bonnet, “Robust Autopilot For A Flexible Missile: Loop-Shaping H Infinity Design And Real V-Analysis,” Int. J. Robust Nonlinear Control, vol. 8, pp. 129–153, 1998.