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As there are uncertainties in the information, usually several scenarios are considered and a trade-off solution is offered. The smart autonomous aircraft must be able to overcome environmental uncertainties such as modeling errors, external disturbances and an incomplete situational awareness. In the third part of the chapter, fault tolerant flight control is considered for LTI and LPV formulations followed by model reference adaptive control and maneuver envelope determination. The last part of the chapter concerns a fault tolerant planner detailing trim state, reliability analysis, safety analysis of obstacle avoidance and mission decision.

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The Earth frame rotates with respect to the inertial frame, at a rate ωec about the axis Oz . This frame is also called Earth-centered Earth fixed frame (ECEF) in [72]. 1 GEOGRAPHIC FRAME Navigation frame The navigation frame (n-frame) is a local geographic frame which has its origin, P , fixed to any arbitrary point that may be free to move relative to the Earth, assumed to be a uniform sphere. These axes are aligned with the directions of North, East and the local vertical Down (NED) or East, North and Up (ENU), both defined as right-handed reference frames.