Agile Missile Controller Based on Adaptive Nonlinear Backstepping   Control
  This paper deals with a nonlinear adaptive autopilot design for agile missile systems. In advance of the autopilot design, an investigation of the agile turn maneuver, based on the trajectory optimization, is performed to determine state behaviors during the agile turn phase. This investigation shows that there exist highly nonlinear, rapidly changing dynamics and aerodynamic uncertainties. To handle of these difficulties, we propose a longitudinal autopilot for angle-of-attack tracking based on backstepping control methodology in conjunction with the time-delay adaptation scheme. 
Chang-Hun Lee, Tae-Hun Kim, and Min-Jea Tahk
cs.SY