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Koopman Operator-Based Integrated Guidance and Control for Strap-Down High-Speed Missiles

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2024年第6期32卷 2436-2443页

作者： Zhou, Min Lu, Mingfei Hu, Guanjie Guo, Zongyi Guo, Jianguo Northwestern Polytech Univ Inst Precis Guidance & Control Xian 710072 Peoples R China XianJiaotong Univ Inst Artificial Intelligence & Robot Xian 710049 Peoples R China

This work focuses on addressing the challenges of integrated guidance and control (IGC) for strap-down high-speed missiles with nonlinearities and field-of-view constraints. To achieve this, a data-driven prediction model using the Koopman operator is developed, which exhibits high accuracy in capturing the significant nonlinearities of the investigated high-speed missiles. Furthermore, the field-of-view restrictions imposed by the strap-down seeker are addressed by introducing a Lyapunov-based model predictive control (LMPC) scheme based on the linear Koopman prediction model. To enhance the robustness of the system, a disturbance observer is integrated into the Koopman-operator-based LMPC (KLMPC), enabling the estimation and compensation of disturbances. A KLMPC-based IGC (KLMPC-IGC) design framework is then developed to solve the constrained IGC problem, ensuring the stability and robustness of the closed-loop system. Numerical simulation results validate the higher prediction accuracy of the proposed linear prediction model compared with traditional local linearization prediction, as well as demonstrate the effectiveness of the presented approach.

关键词： Missiles Aerodynamics Mathematical models Vectors Predictive models Robustness Predictive control field-of-view constraint high-speed missiles integrated guidance and control (IGC) Koopman operator Lyapunov-based model predictive control (LMPC)

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Three-dimensional nonsingular impact angle guidance strategy with physical constraints

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ISA TRANSACTIONS 2022年 131卷 476-488页

作者： Yang, Xiao-yan Zhang, Yu-chen Song, Shen-min Harbin Inst Technol Sch Astronaut Harbin 150001 Heilongjiang Peoples R China

In this study, two nonsingular three-dimensional (3D) guidance strategies to intercept a stationary target with desired impact angles, subject to nonlinear coupled dynamics, field-of-view (FOV) limit and lateral acceleration bounds, are investigated. As a stepping stone, two novel sliding mode surfaces are designed, the convergence and boundedness of the two sliding mode surfaces can guarantee the impact-angle-constrained interception while maintaining the seeker's lock-on condition during the guidance. A novel auxiliary system is also presented to compensate for the effects caused by input saturation. In addition, the analytical achievable impact angles set is presented in terms of the initial engagement condition. Numerical simulations with various constraints, a realistic missile model and comparison study have been considered to show the feasibility and effectiveness of the proposed strategies.(c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Impact angle guidance field-of-view constraint Input saturation Sliding mode surface Capture region

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Polynomial shaping based three-dimensional impact angle and field-of-view constrained guidance

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AEROSPACE SCIENCE AND TECHNOLOGY 2024年 147卷

作者： Surve, Prajakta Maity, Arnab Kumar, Shashi Ranjan Indian Inst Technol Dept Aerosp Engn Mumbai 400076 India

This paper proposes a polynomial-based three-dimensional (3D) impact angle-constrained guidance law considering the seeker's field-of-view (FOV) bound. The guidance laws are derived using nonlinear coupled dynamics of the interceptor-target engagement against stationary as well as constant velocity targets. Line-ofsight (LOS) orientations between the interceptor and the target in both pitch and yaw planes are shaped as two cubic polynomial functions of relative range. An explicit expression for the look angle of the interceptor is acquired in terms of the LOS polynomials. This expression facilitates the embodiment of the FOV constraint in the boundary conditions inflicted on the polynomials. A system of equations with the eight unknown coefficients is obtained by employing the appropriate launch and terminal conditions of the interceptor-target engagement. Reference LOS angle and lead angle profiles are generated using the calculated coefficients, complying to which the interceptor achieves a zero miss distance with desired impact angle and FOV constraints. A tracking controller is then designed using a nonlinear control technique that enables the interceptor to follow reference lead angle profiles in mutually orthogonal planes. Unlike the already existing guidance strategies for 3D impact angle and FOV-constrained target interception, the proposed nonlinear guidance strategy is designed without the use of linearization or decoupling. Moreover, no switching logic or multi-phase guidance structures are employed in the proposed guidance strategy, which eliminates possible jumps in the guidance command. The effectiveness of the proposed guidance law is validated using numerical simulations, along with a comparison study with the existing strategy.

关键词： Impact angle control field-of-view constraint Polynomial shaping-based guidance Three-dimensional guidance

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field-of-view constrained two-stage guidance law design for three-dimensional salvo attack of multiple missiles via an optimal control approach

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AEROSPACE SCIENCE AND TECHNOLOGY 2019年 85卷 334-346页

作者： Ai, Xiaolin Wang, Linlin Yu, Jianqiao Shen, Yuanchuan Beijing Inst Technol Sch Aerosp Engn Beijing 100081 Peoples R China Beijing Inst Space Long March Vehicle Beijing 100076 Peoples R China

This study considers the cooperative guidance problem for multiple missiles against a stationary target with the field-of-view constraint. A two-stage guidance scheme is proposed to realize salvo attack of multiple missiles without using any information on time-to-go or its estimation. In the first guidance phase, this study integrates the cooperative guidance problem, state tracking problem and field-of-view constraint into a unified optimal control framework. A non-quadratic field-of-view constraint cost is innovatively constructed via an inverse optimal control approach, which leads to an analytical, distributed, and optimal guidance law to provide favored initial conditions for the latter phase. The stability and optimality of the closed-loop system is also proven. With respect to the second guidance phase, missiles disconnect from each other and are governed by the typical pure proportional navigation guidance law to eventually realize the salvo attack mission. Numerical simulations are performed to validate the theoretical results. (C) 2018 Elsevier Masson SAS. All rights reserved.

关键词： Three-dimensional salvo attack Two-stage guidance law Inverse optimal control field-of-view constraint

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Barrier Lyapunov Function Based Integrated Missile Guidance and Control Considering Phased Array Seeker Disturbance Rejection Rate

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IEEE ACCESS 2022年 10卷 31070-31083页

作者： Lin, Shih-Yao Wang, Jiang Wang, Wei Beijing Inst Technol Sch Aerosp Engn Beijing 100081 Peoples R China

A two-dimensional missile-target engagement geometry is established considering the effect of the disturbance rejection rate (DRR) problem caused by phased array radar beam pointing error and radome refraction error in the guidance and control system. Compared with the traditional two-dimensional missile-target engagement geometry, the established model clearly shows the effect of the disturbance rejection rate problem on the missile line of sight and field-of-view constraint. The integrated missile guidance and control scheme is developed by adding the integral barrier Lyapunov function to dynamic surface control to satisfy the seeker field-of-view constraint while ensuring that the system has strong robustness. The target maneuvering and unmodeled disturbance with the effect of the DRR error slope as uncertain disturbances of the system and use the reduced-order extended state observer for online estimation. Moreover, the actuator deflection angle and angular rate constraints are guaranteed via the command filter. Stability analysis and numerical simulations show that the estimation and compensation of the seeker DRR error allow the proposed scheme to intercept a high-speed target accurately.

关键词： Radomes Radar tracking Control systems Target tracking Phased arrays Radar Missile guidance Integrated guidance and control field-of-view constraint disturbance rejection rate barrier Lyapunov function

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field-of-view Constrained Cooperative Guidance Law for Simultaneous Attack with Multiple Missiles 38

Field-of-View Constrained Cooperative Guidance Law for Simul...

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38th Chinese Control Conference (CCC)

作者： Li, Rui Zhao, Yangyang Ma, Qinghua Tsinghua Univ Dept Precis Instrument Beijing 100084 Peoples R China Xian Inst Modern Control Technol Xian 710065 Peoples R China

ISBN: (纸本)9789881563972

In this paper, a cooperative guidance law based on an undirected communication graph is presented, which can keep the target within a narrow field-of-view (FOV) all the flight time and achieve simultaneous attack against stationary targets without access to global information. To maintain the seeker's lock-on condition, this paper considers the real look angle without neglecting the additional sideslip angle caused by wind turbulence. However, when the missile's speed exceeds a certain value, the additional sideslip angle will be small enough to be neglected and this value is derived. Based on the derived value, the guidance law is adaptive to switch its structure between FOV constrained sliding mode control guidance law and proportional navigation guidance (PNG) law, which can achieve zero miss distance with terminal command converging to zero, theoretically. Numerical simulations are conducted and the results prove the proposed law's validity.

关键词： field-of-view constraint simultaneous attack distributed guidance law wind turbulence

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field-of-view Constrained Hybrid Guidance Law against Moving Targets in Crosswind 39

Field-of-View Constrained Hybrid Guidance Law against Moving...

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39th Chinese Control Conference (CCC)

作者： Li, Rui Zhao, Yangyang Ma, Qinghua Xian Inst Modern Control Technol Xian 710065 Peoples R China

ISBN: (纸本)9789881563903

Because of the additional sideslip angle and the strap-down seeker's narrow field-of-view (FOV), the crosswind and moving target make it difficult for missiles to maintain lock-on condition. A novel hybrid guidance (HG) law is proposed in this paper, which can keep the target within FOV all the flight time despite crosswind and unknown maneuverability of the target. The crosswind and the moving target are unified as a generalized target model to simplify the guidance problem. Based on the generalized target model, a new form of the additional sideslip is proposed. We combine two guidance laws in the HG law. One is a FOV constrained sliding mode control guidance law (FOVSMC) and the other is a pure proportional navigation guidance law (PPN). Numerical simulations are conducted and the results prove the proposed law's validity.

关键词： field-of-view constraint hybrid guidance law crosswind moving targets

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Integrated design of guidance and control system considering body line-of-sight angle and input constraints 7

Integrated design of guidance and control system considering...

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7th Symposium on Novel Photoelectronic Detection Technology and Applications

作者： Shao Maosen Xu Cheng Zhou Jun Zhao Bin Northwestern Polytech Univ Xian 710072 Peoples R China Sci & Technol Complex Syst Control & Intelligence Beijing 100074 Peoples R China

ISBN: (数字)9781510643628

ISBN: (纸本)9781510643628

Compared with the traditional gimbal seeker, the coupling of guidance loop and control loop is more easily caused by the strapdown seeker, so the field-of-view (FOV) limit of the strapdown seeker is more easily violated. To solve this problem, an integrated guidance and control method considering the seeker's FOV constraints and input constraints is proposed. Firstly, the line-of-sight (LOS) decoupling principle of strapdown seeker was performed on the traditional integrated guidance and control (IGC) model to deal with the problem of FOV constraint, and then the actuator saturation was employed to build a nonlinear strict feedback state equation with unmatched uncertainties. Secondly, the dynamic surface control (DSC) based IGC law considering body line-of-sight angle (BOLS) and input constraints was designed with the extended state observer (ESO) to estimate and compensate the uncertainties. To deal with the FOV and input constraints, the barrier Lyapunov function and Nussbaum function were employed, respectively. Finally, The stability of the closed loop system was proved by using Lyapunov stability theory and numerical simulation verified the effectiveness of the proposed method.

关键词： Integrated guidance and control field-of-view constraint Input constraint Barrier Lyapunov function Nussbaum function

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Vision-based motion primitives for reactive walking 13

Vision-based motion primitives for reactive walking

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13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Garcia, Mauricio Stasse, Olivier Hayet, Jean-Bernard Esteves, Claudia Laumond, Jean-Paul CIMAT AC Jalisco S-N Mineral Valenciana Guanajuato 36240 Mexico CNRS LAAS F-31400 Toulouse France Univ Guanajuato Guanajuato Mexico

ISBN: (纸本)9781479926190

This paper presents a method for reactive walking allowing visual servoing and adaptation of footsteps trajectories in real-time. This is done by building upon recent advances in the fields of optimal control for a walking pattern generator [1] and planning for a nonholomic robot with field-of-view constraints [2]. Herdt et al. [1] provided a controller where a humanoid robot is driven by its Center-of-Mass ( CoM) velocity. A natural extension, proposed in [3], is to control a humanoid robot directly by using vision-based control techniques. However, the trajectories realized by the robot in that case are generated to minimize the distance in the image feature space and might create unnecessary motion in the space of the footprints. This paper aims at solving this problem by making the CoM follow a convenient space of trajectories for which the robot behaves overall better. The motion primitives obtained in [2] provide the space of trajectories used in this work.

关键词： humanoid robots motion control optimal control path planning robot vision trajectory control visual servoing center-of-mass velocity field-of-view constraint humanoid robot image feature space nonholomic robot reactive walking vision-based control vision-based motion primitive walking pattern generator Generators Humanoid robots Legged locomotion Planning Robot kinematics Trajectory

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Visual Servoing of a Redundant Underwater Vehicle-Manipulator System Using Receding Horizon Control

Visual Servoing of a Redundant Underwater Vehicle-Manipulato...

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OCEANS - Marseille Conference

作者： Liang, Xiaomin Gao, Jian Zhao, Xinyuan Pan, Guang Northwestern Polytech Univ Sch Marine Sci & Technol Xian Peoples R China Univ Genoa Italian Inst Technol Dept Informat Bioengn Robot & Syst Engn Adv Robot Genoa Italy

ISBN: (纸本)9781728114507

In recent years, underwater vehicle-manipulator systems (UVMSs), which are composed of free-moving underwater bodies and multiple degrees-of-freedom manipulators attached on the bodies, have attracted great interests in the fields of robotics and ocean engineering. In this paper, a visual servoing scheme is proposed by using receding horizon control (RHC) to control the UVMS end-effector, which is expected to complete a wide variety of interventional tasks. Firstly, the UVMS kinematic model of visual servoing is developed to describe the relationship between the image of feature points obtained by an eye-in-hand camera and the velocities of a UVMS. With consideration of system constraints, RHC is designed based on this model to make the current image approach to the desired one, which is obtained by the UVMS at the desired position. In the RHC, the cost function are properly defined by incorporating image errors and velocity inputs, and the field-of-view constraint is considered. The effectiveness of the proposed RHC-based visual servo control is tested by the simulation experiments, in which the end-effector successfully moves the desired position with visual feedback.

关键词： Underwater vehicle manipulator system (UVM-S) receding horizon control (RHC) visual servo control field-of-view constraint

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