Feasible agile maneuver identification and generation algorithms on multi modal control framework

Multi Modal Control Framework for Agile Maneuvering UCAVs, consists of decomposing the arbitrary maneuvers into a sequence of maneuver modes and maneuver parameters (modal inputs), where each mode can be locally controlled via an assigned controller, thus resulting on a switched control system. Two algorithms are presented for this framework in this paper, to work with a path planner. First algorithm called "Maneuver Identification Algorithm", takes a well defined maneuver and converts into the modal sequence in the proposed motion language without checking its feasibility. Second algorithm "Feasible Maneuver Generation" algorithm, takes a flight trajectory in 3D plane and imposes the sequential and envelope constraints (via a mode transition table and agility metrics) to create a feasible maneuver sequence. Both algorithms are tested via agile combat maneuvers.