Precision Advancements in Aerial Gliding Vehicles: Modeling to FCS Validation.

The article focuses on the development and validation of a precise nonlinear six-degrees-of-freedom (6-DOF) flight simulation model and a robust flight control system (FCS) for aerial gliding vehicles (AGVs), a class of unpowered guided munitions deployed by unmanned aerial vehicles (UAVs). The study presents the design and experimental characterization of the AGV's mass–inertia, aerodynamic, and actuation models, followed by the implementation of a modified incremental nonlinear dynamic inversion (MI-NDI) controller. This controller is tested extensively in a hardware-in-the-loop (HIL) real-time simulation environment, demonstrating superior robustness and accuracy compared to traditional nonlinear dynamic inversion (NDI) and incremental NDI (INDI) controllers, particularly under wind disturbances and model uncertainties. The research establishes a comprehensive framework integrating modeling, simulation, and control validation, contributing to enhanced autopilot precision for AGVs and their effective integration as UAV armaments.