Fusion of hard and soft control for uninhabited aerial vehicles

Randy C. Hoover, Marco P. Schoen, D. Subbaram Naidu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


This paper develops a new approach by integrating hard and soft control strategies for Guidance, Navigation, and Control of Uninhabited Aerial Vehicles (UAVs). The desired features from both soft and hard control are incorporated in the development of a navigation controller and UAV autopilot. The navigation controller is responsible for the generation of flyable trajectories based on desired GPS waypoint destinations. The UAV autopilot is responsible for steering the UAV along these desired trajectories while maintaining stable control.

Original languageEnglish (US)
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)008045108X, 9780080451084
StatePublished - 2005
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


  • Adaptive control
  • Autonomous vehicles
  • Fuzzy control
  • Intelligent control


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