Have a look at Carbon Copy Cloner. It will do most, if not all of what you want, particularly the synchronised/incremental backups and bootable clones.
Similar apps with plenty of personal preferences either way, on these forums and elsewhere. Google/Mroogle Carbon Copy Cloner vs. Super Duper and you'll see what I mean. Choose whichever suits you - and whichever is more likely to ensure that you always backup.
CCC will backup to a disk image. Not sure how it would work if you're scheduling backups thought, since presumably you'd need to leave the disk images mounted.
