Stability-Constrained Variable Autonomy Control for Counter-UAS Engagement under Time-Critical Conditions

This paper proposes a control-theoretic framework for variable autonomy in time-critical counter-UAS interception. Authority allocation between autonomous and human controllers is modelled as a dynamic state that continuously blends control inputs under bounded human delay and uncertainty. The resulting closed-loop system is formulated as a parameter-varying system with rate-limited autonomy dynamics. Sufficient conditions for stability and safe authority handover are derived. Simulation results on a planar interception model demonstrate improved stability and constraint satisfaction compared to fixed-autonomy and hard-switching baselines.