@article{Mohamed2025, 
author = {Mohamed Ibrahim Mohamed and Ehab Safwat and Mohammed A. H. Abozied and Ahmed M. Kamel and Yehia Z. Elhalwagy},
title = {Precision Advancements in Aerial Gliding Vehicles: Modeling to FCS Validation},
year = {2025},
journal = {Unmanned Systems},
volume = {13},
number = {2},
pages = {541-560},
keywords = {Modeling, flight simulation, guided munitions, HIL, MI-NDI, FCS, AGV, UAV},
url = {https://www.sciopen.com/article/10.1142/S2301385025500323},
doi = {10.1142/S2301385025500323},
abstract = {The growing utilization of unmanned aerial vehicles (UAVs) in military operations has necessitated the development of a suitable weaponry for these kind of platforms. One of the trending categories of such armaments is the aerial gliding vehicle (AGV). AGVs have no propulsion system, consequently, a critical need for a robust flight control system (FCS) tailored to this kind of aerial systems is raised. This research focuses on designing a nonlinear model based controller, starting with the construction of a precise model through practical experiments and the establishment of a dedicated testing and flight simulation environment. Recognizing the limitations of traditional nonlinear dynamic inversion (NDI) due to its dependence on the vehicle model, the modified incremental nonlinear dynamic inversion (MI-NDI) is developed to operate in the presence of wind, model mismatches, and external disturbances. In this research, an extensive testing is conducted in a hardware-in-the-loop (HIL) simulation environment which validates the MI-NDI controller’s superior performance, even in challenging conditions. The research outcomes mark a significant advancement in enhancing autopilot precision for advanced aerial weaponry and unmanned vehicles.}
}