In this paper we investigate a model of two agents (self-steering particles) engaged in a dyadic interaction, with one pursuing the other using a constant bearing strategy. The pursued agent is controlled independentl...
详细信息
ISBN:
(纸本)9781509018376
In this paper we investigate a model of two agents (self-steering particles) engaged in a dyadic interaction, with one pursuing the other using a constant bearing strategy. The pursued agent is controlled independently. Analysis of this interaction shows that the dynamics on the joint state space of the two agents restricts to an invariant manifold in shape space, and shares certain features in common with the Kepler problem. This model is applied to the task of tracking a stationary beacon with the practical constraint of using a sensor with a limited field of view (FOV). An effective solution to this problem is derived using the preceding analysis, and demonstrated in a laboratory implementation on a robot equipped with a Kinect vision sensor. Essential to this solution is the augmentation of the pursuit strategy (and associated feedback law) by an odometry-driven estimator when the beacon falls outside of the FOV.
This paper proposes polynomial shaping-based guidance strategies that assure interception of non-maneuvering targets at a pre-defined time without violating the seeker's fieldof-viewconstraint. One of the propose...
详细信息
ISBN:
(纸本)9781713867890
This paper proposes polynomial shaping-based guidance strategies that assure interception of non-maneuvering targets at a pre-defined time without violating the seeker's fieldof-viewconstraint. One of the proposed guidance strategies is obtained after expressing relative distance between the interceptor and the target as a nonlinear polynomial function of time-to-go. In contrast, the other guidance scheme shapes the line-of-sight angle as a polynomial function of the relative range between the two vehicles. The coefficients of both of these polynomials are obtained using the necessary boundary conditions that are consistent with required terminal and in-flight constraints. Using these coefficients, the desired set of look angles of the interceptor to achieve the mission objectives are first computed and then a nonlinear dynamic inversion-based controller is designed to track these reference values for achieving the guidance objectives. The performances of the proposed guidance strategies are validated and compared with each other using numerical simulations.
This paper proposes a novel three-dimensional (3D) intelligent impact time control guidance (ITCG) law with the field-of-view (FOV) strictly constrained based on nonlinear relative motion relationship. This novel guid...
详细信息
This paper proposes a novel three-dimensional (3D) intelligent impact time control guidance (ITCG) law with the field-of-view (FOV) strictly constrained based on nonlinear relative motion relationship. This novel guidance law can be utilized to coordinate multiple missiles to attack a target simultaneously. Firstly, the precise time-to-go estimation approach of the 3D coupling proportional navigation guidance (PNG) law is derived, which can improve accuracy of impact time. Secondly, a modified time biased term c* including the guidance gain k1 which can accelerate the convergence rate is incorporated into 3D-PNG by feeding back the FOV error. Therefore, the optimal trajectory can be got to achieve precise impact time, in the meantime, the FOV constraint can be satisfied strictly. Then, the guidance gain k1 is obtained by deep deterministic policy gradient (DDPG) in the reinforcement learning (RL) framework, which makes the proposed guidance law meet smaller time error and has less energy loss. Furthermore, the proposed intelligent law can obtain optimal guidance gains quickly and avoid the tedious manual setting. Ultimately, simulation results demonstrate that missiles can impact the target precisely at desired impact times without violating FOV limit and the optimal guidance gain k1 is obtained adaptively and quickly in various initial conditions. (c) 2022 Elsevier Masson SAS. All rights reserved.
An analytical missile guidance law is derived to meet both the impact time and angle constraints as well as the limit of reduced seeker field-of-view that is required to maintain the lock-on condition for a strap-down...
详细信息
An analytical missile guidance law is derived to meet both the impact time and angle constraints as well as the limit of reduced seeker field-of-view that is required to maintain the lock-on condition for a strap-down seeker. Specifically, an auxiliary variable related to the seeker look angle is introduced as an independent variable to design the relative range and line-of-sight (LOS) angle polynomial profiles. The first-order derivative of the LOS profile is designated positive to guarantee that the seeker's look angle decreases monotonically from its initial value to zero at the collision point. By transforming the guidance equations in terms of the auxiliary variable and integrating them with boundary constraints, an analytical impact time and angle guidance law is obtained and presented in the open-loop and closed-loop forms that are similar to the well-known proportional navigation guidance law with a time-varying gain. Moreover, the achievable impact time and angle sets are analytically determined for capturability analysis based on the initial engagement conditions. This technique is user/designer friendly in that it involves no heuristic tuning of guidance design parameters and error-prone estimate of time-to-go. Numerical simulations with comparisons under different terminal constraints are conducted to validate the effectiveness and advantages of the proposed guidance law. (C) 2019 Elsevier Masson SAS. All rights reserved.
This paper proposes polynomial shaping-based guidance strategies that assure interception of non-maneuvering targets at a pre-defined time without violating the seeker's field-of-view constraint. One of the propos...
详细信息
This paper proposes polynomial shaping-based guidance strategies that assure interception of non-maneuvering targets at a pre-defined time without violating the seeker's field-of-view constraint. One of the proposed guidance strategies is obtained after expressing relative distance between the interceptor and the target as a nonlinear polynomial function of time-to-go. In contrast, the other guidance scheme shapes the line-of-sight angle as a polynomial function of the relative range between the two vehicles. The coefficients of both of these polynomials are obtained using the necessary boundary conditions that are consistent with required terminal and in-flight constraints. Using these coefficients, the desired set of look angles of the interceptor to achieve the mission objectives are first computed and then a nonlinear dynamic inversion-based controller is designed to track these reference values for achieving the guidance objectives. The performances of the proposed guidance strategies are validated and compared with each other using numerical simulations.
This study focuses on the application of integrated guidance and control(IGC) in solving the interception problem of strap-down *** proposed approach involves utilizing the Koopman operator to describe the evolution o...
详细信息
ISBN:
(数字)9789887581581
ISBN:
(纸本)9798350366907
This study focuses on the application of integrated guidance and control(IGC) in solving the interception problem of strap-down *** proposed approach involves utilizing the Koopman operator to describe the evolution of the interception *** representing the system in the space of observable functions,the design of the IGC system for strap-down missiles can be achieved using conventional linear methods,even in the presence of significant *** construct the IGC system,the Koopman operator is approximated through data-driven methods,allowing for the development of both linear and bilinear *** models are compared,and it is demonstrated that they can effectively capture the strong nonlinear properties of the system,outperforming the traditional local linearized model in terms of ***,the bilinear model is argued to be superior to the linear *** incorporating the bilinear Koopman-based model into a model predictive control framework,the IGC problem with fieldof-view and control constraints can be successfully *** conducted on the interception of strap-down missiles validate the effectiveness and superiority of the proposed IGC scheme.
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 again...
详细信息
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 tuè$? rbulence. 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, *** simulations are conducted and the results prove the proposed law's validity.
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...
详细信息
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.
暂无评论