By Agneta Balint (Ed)
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The 11" Rotor Diameter XQ-138a Overall Configuration More than 300 flight tests were conducted in all types of atmospheric conditions including gusts through 26 kts, rain at 9"/hr, 100°F (38°C) heat at 100% humidity, winter flights in snow at 22°F (-6°C), dust, sand and finally flight in smoke plumes from exploded tanks. Figure 19 shows a sequence of photos of the aircraft flying off an FCS prototype on Redstone Arsenal, Alabama in April of 2002. These tests were followed by live-fire Battle-Damage Assessment (BDA) tests on the Hellfire Range of Eglin AFB in May of 2002.
Compared with other Lyapunov- 40 Advances in Flight Control Systems based trajectory control designs, the present approach is much simpler to apply and the online estimation process is more robust to saturation effects. Future studies will focus on the actual trajectory generation and the extension to formation-flying control. Appendix constraint adaptive backstepping Backstepping  is a systematic, Lyapunov-based method for nonlinear control design, which can be applied to nonlinear systems that can be transformed into lower-triangular form, such as the system of Eq.
35] Lee, Gary, “Shipborne Countermeasure Range-Extended Adaptive Munition (SCREAM),” Final Report from Lutronix Corporation to the US Army TACOMARDEC, Del Mar, California, May 2003. , and J. , Techno House, Bristol, UK, Vol. 12, No. 5, pp. , 1993.  Barrett, R. and P. Tiso, “PBP Adaptive Actuator Device and Embodiments,” International Patent Application number PCT/NL2005/000054, via TU Delft, 18 February 2005. S. Army Aviation Systems Command, St. Louis, MO 27 June 1992.  Barrett, R. , “Design and Testing of a 1/12th Scale Solid State Adaptive Rotor,” Journal of Smart Materials and Structures, Vol.