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Three-dimensional adaptive dynamic surface guidance law for missile with terminal angle and field-of-view constraints

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ISA TRANSACTIONS 2024年 154卷 113-131页

作者： Wang, Ningyu Wang, Xiaogang E, Bin Li, Yu Harbin Inst Technol Harbin Heilongjiang Peoples R China Beijing Aerosp Technol Inst Beijing Peoples R China

In this paper, an adaptive dynamic surface (DSC) guidance law for missile is designed to intercept the maneuvering target with field-of-view (FOV) and terminal angle constraints in three-dimensional(3D) space, and the missile autopilot dynamics is considered. Firstly, the time-varying transformation function related to line of sight (LOS) is used to replace the FOV constraints, transforming the process-constrained control problem into the output-constrained control problem. Meanwhile, the 3D coupled relative kinematics model considering missile autopilot dynamics and maneuvering target acceleration is established. Secondly, a novel time-varying asymmetric barrier Lyapunov function (TABLF) with dead-zone characteristics is introduced to the adaptive dynamic surface guidance law design process to improve the robustness of parameter debugging. Thirdly, with the help of a nonlinear adaptive filter, the 'explosion of complexity' problem can be avoided effectively, which is caused by analytic computation of virtual signal derivatives. Furthermore, aiming at the problem of autopilot dynamic errors, target acceleration disturbances, and unmeasurable parameters in the model, a novel adaptive law is used to evaluate online. Then, the stability of the closed-loop system is rigorously proven using Lyapunov criteria. Ultimately, Numerical simulations with various constraints and comparison studies have been considered to show the feasibility and effectiveness of the proposed missile guidance law.

关键词： Three-dimensional guidance law Terminal angle constraints field-of-view constraints Adaptive dynamic surface control Barrier Lyapunov function

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Three -Dimensional Nonlinear Guidance with Impact Time and field -of-view constraints 8

Three -Dimensional Nonlinear Guidance with Impact Time and F...

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8th Conference on Advances in Control and Optimization of Dynamical Systems (ACODS)

作者： Samrat, Ashok R. Singh, Swati Kumar, Shashi Ranjan Indian Inst Technol Mumbai 400076 Maharashtra India

In this paper, three-dimensional nonlinear guidance strategies are proposed using a backstepping approach to achieve the interception of stationary targets at a pre-specified impact time while satisfying the seeker's field-of-view constraints. The constraint on time-to -go is first transformed to those on the relative range as well as lead angle. The heading angles serve as the virtual control inputs for backstepping. Guidance command is then derived within a nonlinear framework to steer the interceptor's orientation angle to meet the desired course in such a way as to achieve a successful target interception. The effectiveness of proposed guidance strategies is validated using numerical simulations for different scenarios, with bounded lateral acceleration and in the presence of first-order interceptor autopilot.

关键词： Impact time Three-dimensional field-of-view constraints Nonlinear guidance

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Integrated guidance and control with impact angle and general field-of-view constraints

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AEROSPACE SCIENCE AND TECHNOLOGY 2024年 144卷

作者： Tang, Xiangyu Yu, Jianglong Dong, Xiwang Ren, Zhang Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Beihang Univ Inst Artificial Intelligence Beijing 100191 Peoples R China

This paper investigates the problem of integrated guidance and control (IGC) law design with impact angle and general field-of-view (FOV) constraints. Firstly, the IGC model for intercepting non-maneuvering moving target is parameterized by state-dependent coefficient matrices. The nominal IGC law for intercepting the target with the desired impact angle is obtained by solving the state-dependent Riccati equation. Secondly, since the relative degrees of the general FOV constraints with respect to the IGC model exceed one, the high-order control barrier functions are constructed. The satisfaction of the FOV constraints is equivalent to ensuring that the superlevel sets defined by the barrier functions are forward invariant, which is converted into affine constraints on the control input. The nominal IGC law is modified in a minimally invasive way by quadratic programming. Then, the proposed method is extended to the case of intercepting maneuvering target by leveraging a relative coordinate frame. Finally, numerical simulations are conducted to verify the effectiveness of the proposed method.

关键词： field-of-view constraints Impact angle constraints Integrated guidance and control Control barrier function

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Three-Dimensional Nonlinear Guidance with Impact Time and field-of-view constraints

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IFAC-PapersOnLine 2024年 57卷 25-30页

作者： R Ashok Samrat Swati Singh Shashi Ranjan Kumar Indian Institute of Technology Bombay Powai Mumbai 400076 India

In this paper, three-dimensional nonlinear guidance strategies are proposed using a back-stepping approach to achieve the interception of stationary targets at a pre-specified impact time while satisfying the seeker's field-of-view constraints. The constraint on time-to-go is first transformed to those on the relative range as well as lead angle. The heading angles serve as the virtual control inputs for backstepping. Guidance command is then derived within a nonlinear framework to steer the interceptor's orientation angle to meet the desired course in such a way as to achieve a successful target interception. The effectiveness of proposed guidance strategies is validated using numerical simulations for different scenarios, with bounded lateral acceleration and in the presence of first-order interceptor autopilot.

关键词： Impact time Three-dimensional field-of-view constraints Nonlinear guidance

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Image-Based Formation Control of Unmanned Surface Vehicles With field-of-view constraints

Image-Based Formation Control of Unmanned Surface Vehicles W...

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第43届中国控制会议

作者： Jianan Yang Yunchang Huang Shi-Lu Dai School of Automation Science and Engineering South China University of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper presents an image-based control of a group of unmanned surface vehicles(USVs) to achieve leader-follower formation. Each follower in the USV group equipped with a monocular camera is driven to guarantee that the image coordinate of the leader's feature point converge to the reference image point in the image space. The monocular camera is limited field of view,which relates to the issue of visibility maintenance. A velocity observer is employed to estimate the surge and sway velocities of the leader. Using barrier Lyapunov synthesis, image-based leader-follower formation controllers are designed such that the image coordinate errors converge to a small neighborhood while guaranteeing prescribed transient and steady-state *** designed formation controllers depend only on the image information acquired by onboard camera without relative position measurements and an explicit communication. Simulation results show the efficacy of the proposed image-based leader-follower formation controllers.

关键词： Image-based visual servo prescribed performance control field-of-view constraints leader-follower formation

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Control-Barrier-Function-Based Cooperative Guidance with Nonuniform field of view and Input constraints

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2024年第11期47卷 2444-2452页

作者： Tang, Jingchuan Zuo, Zongyu Beihang Univ BUAA Res Div 7 Beijing 100191 Peoples R China

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Barrier Lyapunov Function based Impact Time Guidance with field -of-view and Input constraints 22

Barrier Lyapunov Function based Impact Time Guidance with Fi...

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22nd International-Federation-of-Automatic-Control (IFAC) Symposium on Automatic Control in Aerospace (ACA)

作者： Singh, Swati Kumar, Shashi Ranjan Mukherjee, Dwaipayan Indian Inst Technol Aerosp Engn Mumbai 400076 Maharashtra India Indian Inst Technol Elect Engn Mumbai 400076 Maharashtra India

ISBN: (纸本)9781713867890

This paper proposes a barrier Lyapunov function-based guidance scheme against stationary targets to achieve interception at a pre-specified impact time while satisfying the fieldof-view constraint and the bounded lateral acceleration requirement for planar engagements. An approach that aids in satisfying the field-of-view constraint with a bounded interceptor lateral acceleration is first proposed using the conditions on time-to-go estimate of the engagement and extension of system states. Thereafter, the guidance command that constrains the time-to-go values and extended states within their bounds is obtained using the concept of the barrier Lyapunov function. The proposed approach also allows the designer to control the convergence rate and thereby the acceleration requirements, resulting in a trade-off between the rate of convergence of error and acceleration demand. Simulations are carried out to validate the effectiveness of the proposed schemes for different initial engagement geometries.

关键词： Guidance Barrier Lyapunov function field-of-view constraints Bounded acceleration

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Barrier Lyapunov Function based Impact Time Guidance with field-of-view and Input constraints

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IFAC-PapersOnLine 2022年第22期55卷 412-417页

作者： Swati Singh Shashi Ranjan Kumar Dwaipayan Mukherjee

This paper proposes a barrier Lyapunov function-based guidance scheme against stationary targets to achieve interception at a pre-specified impact time while satisflying the field-of-view constraint and the bounded lateral acceleration requirement for planar engagements. An approach that aids in satisflying the field-of-view constraint with a bounded interceptor lateral acceleration is first proposed using the conditions on time-to-go estimate of the engagement and extension of system states. Thereafter, the guidance command that constrains the time-to-go values and extended states within their bounds is obtained using the concept of the barrier Lyapunov function. The proposed approach also allows the designer to control the convergence rate and thereby the acceleration requirements, resulting in a trade-off between the rate of convergence of error and acceleration demand. Simulations are carried out to validate the effectiveness of the proposed schemes for different initial engagement geometries.

关键词： Guidance Barrier Lyapunov function field-of-view constraints Bounded acceleration

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Impact Angle and Time Control Guidance Under field-of-view constraints and Maneuver Limits

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INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES 2018年第1期19卷 217-226页

作者： Shim, Sang-Wook Hong, Seong-Min Moon, Gun-Hee Tahk, Min-Jea Korea Adv Inst Sci & Technol Dept Aerosp Engn Daejeon 34141 South Korea

This paper proposes a guidance law which considers the constraints of seeker field-of-view (FOV) as well as the requirements on impact angle and time. The proposed guidance law is designed for a constant speed missile against a stationary target. The guidance law consists of two terms of acceleration commands. The first one is to achieve zero-miss distance and the desired impact angle, while the second is to meet the desired impact time. To consider the limits of FOV and lateral maneuver capability, a varying-gain approach is applied on the second term. Reduction of realizable impact times due to these limits is then analyzed by finding the longest course among the feasible ones. The performance of the proposed guidance law is demonstrated by numerical simulation for various engagement conditions.

关键词： Impact-time control guidance Impact-angle control guidance field-of-view constraints Maneuver limits Homing missile guidance

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Switched visual servo control of nonholonomic mobile robots with field-of-view constraints based on homography

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控制理论与技术（英文版） 2015年第4期13卷 311-320页

作者： Bingxi JIA Shan LIU College of Control Science and Engineering Zhejiang University Hangzhou Zhejiang 310027 China

This paper presents a novel scheme for visual servoing of a nonholonomic mobile robot equipped with a monocular camera in consideration of field-of-view (FOV) constraints. In order to loosen the FOV constraints, the system states are expressed by the homography between the current frame and the key frame so that the target is not necessarily to be always visible in the control process. A switched visual controller is designed to deal with the nonholonomic constraints. Moreover, an iteration strategy is used to eliminate errors caused by the parameter uncertainty. The stablity and robustness of the proposed scheme are guaranteed by theoretical analysis. Compared to conventional schemes, the proposed approach has the following advantages: 1) a better path in Cartesian space can be achieved owing to the loosening of FOV constraints; 2) the iteration strategy ensures the robustness to parameter uncertainty; 3) when used in landmark-based navigation, it needs much sparser and simpler landmarks than those localization-based approaches need. Simulation results demonstrate the effectiveness of the proposed method.

关键词： Homography-based key-frame strategy field-of-view constraints nonholonomic mobile robot

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