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An affordable replacement for the Micronav has been difficult to find, and as a result, individual sensor components have been selected and integrated into the system. While this process does incur development and testing overhead, it has the advantage of allowing the researcher to select optimal sensors for the given application, and also offers a simple path for upgrading sensor capabilities. The replacement sensor components are described as follows: IMU sensor: The Analog Devices iSensor ADIS16405 is a small, low-cost, temperature compensated, tri-axial accelerometer, rate gyro, and magnetometer.

The experimental results show the varied behavior attained with the robust filter for the different controllers. The benefit of having a flight test platform is the ability to validate theory and simulations on the test aircraft. In 2010, a total of 69 research flights were conducted. 7 Current Activities and Future Directions Currently, the UAV Research Group is pursuing several research appliations for the UAV platforms and development framework. • The National Science Foundation (NSF) has recently started a program focused on Cyber-Physical Systems (CPS) research [10].

Adaptive Nonlinear Flight Control and Control Allocation for Failure Resilience 43 2 RECOVER Simulation Model The presented work is part of a research project by the Group for Aeronautical Research and Technology in Europe (GARTEUR). This group has established flight mechanics action group FM-AG(16) with the specific goal to investigate the possibilities of fault tolerant control in aeronautics and to compare the results of different reconfiguring control strategies applied to a reference benchmark flight trajectory.

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