Optimal Control, Guidance and Estimation

Lecture – 32

Integrated Estimation, Guidance & Control – II

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Motivation

To fuse the estimation, guidance and control loops
at various levels

Benefits arise because integrated designs are
capable of retaining and exploiting the synergy
between various subsystems

Integrated design approaches proposed in literature
can be broadly classified into three groups:
• Integrated guidance and control (IGC)
• Integrated estimation and guidance (IEG)
• Integrated estimation guidance and control (IEGC)

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 2

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Philosophy

IEG IEGC (IGC&E)

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 3

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Philosophy

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 4

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Topics
 Integrated Estimation and Guidance
• P. N. Dwivedi, S. N. Tiwari, A. Bhattacharya and
Radhakant Padhi, A ZEM Based Effective Integrated
Estimation and Guidance of Interceptors in Terminal
Phase, AIAA Guidance, Navigation and Control
Conference, 2010, Toronto, Canada.

 Integrated Guidance, Control & Estimation

• P. N. Dwivedi, S. N. Tiwari, A. Bhattacharya and
Radhakant Padhi, A ZEM Dynamics Based Integrated
Estimation Guidance and Control of Interceptors for High
Speed Targets, AIAA Guidance, Navigation and Control
Conference, 2011, Portland, USA.
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 5
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

A ZEM Based Effective Integrated Estimation

and Guidance of Interceptors in Terminal Phase

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
Reference
P. N. Dwivedi, S. N. Tiwari, A.
Bhattacharya and Radhakant Padhi, A
ZEM Based Effective Integrated
Estimation and Guidance of
Interceptors in Terminal Phase, AIAA
Guidance, Navigation and Control
Conference, 2010, Toronto, Canada.

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 7

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Concept:

 Lateral acceleration commands have

been obtain as an “algebraic function” of
the estimated states (with no delay).
 Guidance parameters ZEM (all three
components) and Tgo has been chosen
as a state of estimator itself.
ZEM
Note : In PN Guidance, a =
Tgo2
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 8
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Summary of Extended KF:
Continuous-Discrete Formulation

Xɺ (t ) = f ( X , U , t ) + G (t ) W (t )
Model
Y = h ( X k ) + Vk
Xˆ − ( t 0 ) = X 0
Initialization
P0− = E  Xɶ − ( t 0 ) Xɶ −T
( t 0 ) 
−1

Gain
K e k ( t ) = Pk− C k− T  C k− Pk− C k− T + R 
Computation  ∂h 
w h e re, C k− = 
 ∂ X  Xˆ k−
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 9
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Summary of Extended KF:

Continuous-Discrete Formulation

 ( )
Xˆ k+ = Xˆ k− + K ek  Y k − h Xˆ k− 

Updation (
Pk+ = I − K ek C k )P (I − K
k
−
ek Ck )
T
+ K ek R k K eTk
( preferable )
(
= I − K ek C k )P k
−
( not preferable )
ɺ
Propagation
Xˆ (t ) = f ( Xˆ , U , t ); Xˆ k+ → Xˆ k−+1
Pɺ (t ) = AP + PAT + GQG T ; Pˆk+ → Pˆk−+1

where A(t ) = 
∂f 
 ∂X  Xˆ ( t )
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 10
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Problem Formulation
State, Measurement
& Desired Output Equations

States variables are

The measurement variables are the direct output of seeker

( range, range rate, gimbal angles and gimbal angles rates) given as

Output variables are

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 11

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

ZEM-Dynamics in 1-D
& Time-to-go Dynamics
ZEM in y-direction
ZEM y = ∆y + ∆Vy Tgo
d
dt
( ZEM y ) = ∆yɺ + ∆Vɺy Tgo + ∆Vy Tɺgo
∆R
∆Vɺy = aTy − aM y

Time-to-go (Tgo)
 ∆Rɺ ∆Rɺ − ∆R ∆R
ɺɺ   ∆R ∆R ɺɺ 
Tgo = − ( ∆R / ∆Rɺ ) Tɺgo = −   = − 1 − 
 ∆Rɺ 2
  ∆Rɺ 
2

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 12

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 System Dynamics in 3-D
ZEM = ∆X + ∆V Tgo
d
( ZEM ) = ∆Xɺ + ∆Vɺ Tgo + ∆V Tɺgo
dt

Inertial
Components

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 13

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Measurement Equation
(in LOS frame)

Using

Note: Measurements are available in seeker gimbal frame, LOS frame information
is obtained through a series of transformations.

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 14

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Measurement Equation
(in Seeker Gimbal Frame)
Where
r = ∆x 2 + ∆y 2 + ∆z 2 + η1 rm= range
Φym= gimbal angle along y
Φzm= gimbal angle along z
ωgym= gimbal angle rate along y
ωgzm= gimbal angle rate along z
C : Transformation matrix

DCM matrix of LOS to gimbal frame

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 15
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Unit LOS Vector in Body Frame

& Transformation Matrices

where,

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 16

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Output Equation:
Guidance Commands
Body Inertial
Components Components

where Cib is the DCM matrix of inertial to body.

Here N = 3 is the navigation constant.

Note: (i) No lag between Estimation & Guidance!

(ii) Lateral acceleration along x-axis cannot be realized.

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 17

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Nonlinear Controller
(Using Dynamic Inversion)

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 18

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 OUTER LOOP:
Command Transfer

This body rate command is going to inner loop

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 19
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

INNER LOOP:
Body Rate Tracking

This commands are decomposed to fin deflection commands and fed to the actuators.
(passed though second-order dynamics, rate and magnitude bounds, and then combined
Back to feed into the 6-DOF dynamics for realistic simulations)

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 20

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Simulation Results

 The R matrix is chosen as square of 1-σ measurement noise

as a diagonal element
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 21
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

RESULTS

1. Maneuvering Aircraft
• Step Maneuver
• Sinusoidal Maneuver

2. Ballistic Target

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 22

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Result with Maneuvering Aircraft with
Step Maneuver

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 23

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Result with Maneuvering Aircraft with

Step Maneuver

Interception Trajectory in Azimuth and Elevation plane

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 24
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Result with Maneuvering Aircraft with
Step Maneuver

Error in Estimated Zero effort Miss and velocity with 1σ Bound

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 25
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Result with Maneuvering Aircraft with

Step Maneuver

Error in Estimated Target acceleration and Tgo with 1-σ Bound

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 26
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Result with Maneuvering Aircraft with
Step Maneuver

Estimated Range, Range Rate, Gimbal angles and LOS rates Error
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 27
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Result with Maneuvering Aircraft with

Step Maneuver

Command and achieved acceleration, body rates and fin deflections

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 28
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Result with Maneuvering Aircraft with
Step Maneuver

Histogram plot for miss distance for 100 MC run

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 29

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Result with Maneuvering Aircraft with

Step Maneuver

Results of 100 MC runs with perturbation cases

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 30

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Results with Maneuvering A/C with
Sinusoidal Maneuver

Interception Trajectory in Azimuth and Elevation plane

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 31

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Results with Maneuvering A/C with

Sinusoidal Maneuver

Error in Estimated Zero effort Miss and velocity with 1σ Bound

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 32
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Results with Maneuvering A/C with
Sinusoidal Maneuver

Error in Estimated Target acceleration and Tgo with 1 σ Bound

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 33
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Results with Maneuvering A/C with

Sinusoidal Maneuver

Estimated Range, Range Rate, Gimbal angles and LOS rates Error
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 34
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Results with Maneuvering A/C with
Sinusoidal Maneuver

Command and achieved acceleration, body rates and fin deflections

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 35
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Results with Maneuvering A/C with

Sinusoidal Maneuver

Histogram plot for miss distance for 100 MC run

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 36
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Results with Maneuvering A/C with
Sinusoidal Maneuver

Results of 100 MC runs with perturbation cases

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 37

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Results with Ballistic Target

3-D Interception Trajectory

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 38
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Results with Ballistic Target

Interception Trajectory in Azimuth and Elevation plane

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 39
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Results with Ballistic Target

Error in Estimated Zero effort Miss and velocity with 1σ Bound

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 40
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Results with Ballistic Target

Error in Estimated Target acceleration and Tgo with 1 σ Bound

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 41
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Results with Ballistic Target

Estimated Range, Range Rate, Gimbal angles and LOS rates Error
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 42
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Results with Ballistic Target

Command and achieved acceleration, body rates and fin deflections

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 43
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Results with Ballistic Target

Histogram plot for miss distance for 100 MC run

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 44
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Results with Ballistic Target
Results of 100 MC runs with perturbation cases

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 45

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Conclusions
 A new Integrated Estimation and Guidance algorithm
is introduced for Interceptors in Terminal Phase.
 The design implicitly uses the time-to-go as well as
guidance parameter like zero-effort-miss in the
estimation process to reduce the consequences of
estimation errors and delay on guidance performance.
 This new IEG formulation has been applied for
various targets, which demonstrated a substantial
improvement in the result
 This scheme also possesses the potential to satisfy
the hit-to-kill requirement.
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 46
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
A ZEM Dynamics Based Integrated Estimation
Guidance and Control of Interceptors

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Reference
P. N. Dwivedi, S. N. Tiwari, A.
Bhattacharya and Radhakant Padhi, A
ZEM Dynamics Based Integrated
Estimation Guidance and Control of
Interceptors for High Speed Targets,
AIAA Guidance, Navigation and Control
Conference, 2011, Portland, USA.

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 48

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Features of Proposed IEGC
 Integration of Estimation, Guidance and ‘Outer loop of Control’
 It estimates the following ‘guidance parameters’ and utilizes them
to compute the necessary body rate commands directly
• Zero effort miss (ZEM)
• Relative velocity (∆V )
• Target acceleration
• Time-to-go (Tgo)
 Inner loop of the control is still synthesized in a separate loop:
Time scale separation between G & C loops is preserved explicitly
(similar to the concept of ‘Partial IGC’)
 Benefits:
• Overall reduction of loop delay
• Optimality of the overall system

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 49

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Conventional Approach

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 50

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Philosophy of Proposed IEGC

Estimation, Guidance and Outer loop of control is integrated as a single loop .

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 51

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Mathematical Formulation of IEGC

State Equation In State formulation zero- effort-miss, relative velocity, target acceleration
and time-to-go have been taken as a state variable, all in ‘inertial frame’.

Measurement Equation The measurement variables are the direct output of seeker
in ‘seeker polar frame’ (range, range rate, gimbal angles and gimbal angles rates)

Objective: To compute the body rates directly from

these estimated variables T
Z = [ qc rc ]

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 52

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
ZEM-Dynamics in 1-D
& Time-to-go Dynamics
ZEM in y-direction
(Z y : Zero-Effort-Miss in y - direction )
Z y = ∆y + ∆Vy Tgo
Zɺ y = ∆yɺ + ∆Vɺy Tgo + ∆Vy Tɺgo
∆R
∆Vɺy = aTy − aM y

Time-to-go (Tgo)
 ∆Rɺ ∆Rɺ − ∆R ∆R
ɺɺ   ∆R ∆R ɺɺ 
Tgo = − ( ∆R / ∆Rɺ ) Tɺgo = −   = − 1 − 
 ∆Rɺ 2
  ∆Rɺ 
2

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 53

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

System Dynamics in 3-D

ZEM = ∆X + ∆V Tgo
d
( ZEM ) = ∆Xɺ + ∆Vɺ Tgo + ∆V Tɺgo
dt

Inertial
Components

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 54

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 States Equations

Where
Z : ZERO effort miss
∆V : Relative velocity
at: Target acceleration
am: Interceptor acceleration
Tgo : Time to go
∆R : Relative range

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 55

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Measurement Equation
(in LOS frame)

Using

Note: Measurements are available in seeker gimbal frame, LOS frame information
is obtained through a series of transformations.

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 56

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Measurement Equation
(in Seeker Gimbal Frame)

Where

rm= range
Φym= gimbal angle along y
Φzm= gimbal angle along z
ωgym= gimbal angle rate along y
ωgzm= gimbal angle rate along z

C : Transformation matrix

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 57

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

IGC&E Formulation: Outer loop

Enforced Error Dynamics:

However, 0

Hence, from the enforced error dynamics,

Note: This has three components

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 58

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 IGC&E Formulation: Outer loop

Next

where

However

Hence

Note: Roll rate command (pc) is chosen to be zero.

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 59
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Inner Loop:
DI Based Nonlinear Autopilot
For tracking of demanded body rate feedback
linearized Dynamic Inversion Autopilot has been used as:

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 60

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Summary of IGC&E Philosophy

Guidance and outer loop of controller has been integrated with estimator.

Demanded body rates are coming from output of estimator

Inner loop is synthesized separately: Time scale separation is preserved

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 61

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

RESULTS

 Six-DOF simulation platform has been used for showing

the results (with many practical constraints)

 A second order actuator model has been used as:

δo ω2
= 2
δ i s + 2ξω s + ω 2

 For sensing the body rates and acceleration, a second

order gyro and accelerometer model has been used
 Realistic seeker model has been used for generating seeker
measurements.
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 62
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
RESULTS

Three Target Scenarios:

o Case1: Maneuvering Aircraft with step
maneuver

o Case2: Maneuvering Aircraft with sinusoidal

maneuver

o Case3: Ballistic Missile Target

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 63

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

P0,Q & R matrix

R matrix :

Diagonal matrix
with square of
1σ measurement noise

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 64

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Case1:Result with Maneuvering
Aircraft with step maneuver
Azimuth& Elevation Plane Trajectory

3-D Trajectory

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 65

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Case1: Estimated Zero effort

miss & Velocity

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 66 66

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Case1:

Estimated acceleration and Demanded & Achieved body

Time-to-go rates & fin deflections

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 67

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Case2:Result with Maneuvering

A/C with sinusoidal maneuver

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 68

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Case2: Estimated Zero effort
miss & Velocity

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 69

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Case2:

Estimated acceleration & Demanded & Achieved

Time to go body rates & fin deflection
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 70
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Case3 :Results with Ballistic
Target

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 71

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Case3: Estimated Zero effort

miss & Velocity

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 72

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Case3:

Estimated acceleration & Demanded & Achieved

Time-to-go body rates & fin deflection
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 73
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Result with Randomly Perturbed

Plant Parameters (100 cases)
Case1: Case2:

Case3:

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 74

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
 Comparison of IEGC with
conventional Three-loop approach
ZEM
a_c=N
Tgo2

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 75

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Conclusions
 A new Integrated Estimation, Guidance and Control
algorithm is developed.
 The design implicitly uses the time-to-go as well as
guidance parameter like zero effort miss in the
estimation process.
 Second order ZEM dynamics has been used for the
integration purpose.
 New IEGC formulation has shown a substantial
improvement for various interception scenarios

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 76

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Conclusions
 Integrated designs are more natural to the
flight vehicles
 Integrated designs bring more synergy
between various subsystems
• Necessity of having a compatible point mass equation
in parallel is completely avoided
 Integrated designs lead to better performance
in general.
 Integrated designs can be proposed following
various philosophies: IGC, IEG, IEGC etc.
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 77
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Topics
 Integrated Estimation and Guidance
• P. N. Dwivedi, S. N. Tiwari, A. Bhattacharya and
Radhakant Padhi, A ZEM Based Effective Integrated
Estimation and Guidance of Interceptors in Terminal
Phase, AIAA Guidance, Navigation and Control
Conference, 2010, Toronto, Canada.

 Integrated Guidance, Control & Estimation

• P. N. Dwivedi, S. N. Tiwari, A. Bhattacharya and
Radhakant Padhi, A ZEM Dynamics Based Integrated
Estimation Guidance and Control of Interceptors for High
Speed Targets, AIAA Guidance, Navigation and Control
Conference, 2011, Portland, USA.
OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 78
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore
Thanks for the Attention….!

OPTIMAL CONTROL, GUIDANCE AND ESTIMATION 79

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore