Guidance of Unmanned Aerial Vehicles  book cover
1st Edition

Guidance of Unmanned Aerial Vehicles

ISBN 9781138074545
Published March 30, 2017 by CRC Press
376 Pages 104 B/W Illustrations

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Book Description

Written by an expert with more than 30 years of experience, Guidance of Unmanned Aerial Vehicles contains new analytical results, taken from the author’s research, which can be used for analysis and design of unmanned aerial vehicles guidance and control systems. This book progresses from a clear elucidation of guidance laws and unmanned aerial vehicle dynamics to the modeling of their guidance and control systems.

Special attention is paid to guidance of autonomous UAVs, which differs from traditional missile guidance. The author explains UAV applications, contrasting them to a missile’s limited ability (or inability) to control axial acceleration. The discussion of guidance laws for UAVs presents a generalization of missile guidance laws developed by the author. The computational algorithms behind these laws are tested in three applications—for the surveillance problem, the refueling problem, and for the motion control of a swarm of UAVs. The procedure of choosing and testing the guidance laws is also considered in an example of future generation of airborne interceptors launched from UAVs.

The author provides an innovative presentation of the theoretical aspects of unmanned aerial vehicles’ guidance that cannot be found in any other book. It presents new ideas that, once crystallized, can be implemented in the new generation of unmanned aerial systems.

Table of Contents

Basics of Guidance

Guidance Process

Missile Guidance

Guidance of Cruise Missiles and UAVs

Representation of Motion


Longitudinal and Lateral Motions


Control of Lateral Motion

Parallel Navigation

Proportional Navigation: Planar Engagement

Proportional Navigation: Three-Dimensional Engagement

Augmented Proportional Navigation

Proportional Navigation as a Control Problem

Augmented Proportional Navigation as a Control Problem

When Is the PN law Optimal?


Control of Longitudinal and Lateral Motions

Guidance Correction Controls

Lyapunov Approach to Control Law Design

Bellman-Lyapunov Approach: Optimal Guidance Parameters

Modified Linear Planar Model of Engagement

General Planar Case

Three-Dimensional Engagement Model

Generalized Guidance Laws

Modifies Generalized Guidance Laws



Analysis of Proportional Navigation Guided Systems in Time Domain

Inertialess PN Guidance System

Method of Adjoints


Analysis of Proportional Navigation Guided Systems in the Frequency Domain

Adjoint Method: Generalized Model

Frequency Domain Analysis

Steady-State Miss Analysis

Weave Maneuver Analysis


Frequency Analysis and Miss Step Response

Bounded Input—Bounded Output Stability

Frequency Response of the Generalized Guidance Model


Design of Guidance Laws Implementing Parallel Navigation: Frequency-Domain Approach

Neoclassical Missile Guidance

Pseudoclassical Missile Guidance

Example Systems


Guidance Law Performance Analysis Under Stochastic Inputs

Brief Discussion of Stochastic Processes

Random Target Maneuvers

Analysis of Influence of Noises on Miss Distance

Effect of Random Target Maneuvers on Miss Distance

Computational Aspects




Guidance of UAVs

Basic Guidance Laws and Vision-Based Navigation

Generalized Guidance Laws for UAVs

Guidance of a Swarm of UAVs

Obstacle Avoidance Algorithms


Testing Guidance Laws Performance

Forces Acting on Unmanned Aerial Vehicles

Reference Systems and Transformations

Unmanned Aerial Vehicles Dynamics

Autopilot and Actuator Model

Seeker Model

Filtering and Estimation

Kappa Guidance

Lambert Guidance

Simulation Models of Unmanned Aerial Vehicles


Integrated Design

Integrated Guidance and Control Model

Synthesis of Control Laws

Integration and Decomposition


Guidance Laws for Boost-Phase Interceptors Launched from UAVs

Kill Vehicles for Boost-Phase Defense

Development of the Missile Model and Selection of Guidance Law Parameters

Endgame Requirements and the Comparative Analysis of Efficiency of Guidance Laws

Advanced Guidance Laws Applied to Boost Stage

Interceptor’s Performance With Axial Control

Comparative Analysis with Lambert Guidance



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Rafael Yanushevsky was born in Kiev, Ukraine. He received a BS in mathematics and a MS (with honors) in electromechanical engineering from Kiev University and the Kiev Polytechnic Institute, respectively. He earned a Ph.D in optimization of multivariable systems in 1968 from the Institute of Control Sciences of the USSR Academy of Sciences, Moscow, Russia. After immigration to the United States in December 1987, he started teaching at the University of Maryland, first in the Department of Electrical Engineering, then in the Department of Mechanical Engineering, He also taught at the University of the District of Columbia in the Department of Mathematics. Since 1999, Dr. Yanushevsky has been involved in projects related to the aerospace industry.


This book provides very detailed analytical descriptions of guidance laws for UAVs … I think it is a good reference book for those who are involved or are interested in autonomous UAV control systems. The concrete theoretical aspects provided in this book will help reader to further explore optimal solutions towards future and autonomous UAVs.
—Dr. Shigang Yue, The Aeronautical Journal, May 2012