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Finite-time speed observer design for asymptotic consensus of bidirectional longitudinal automated vehicle groups in the presence of acceleration constraint

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INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL 2024年第6期12卷 2000-2009页

作者： Chehardoli, Hossein Ayatollah Boroujerdi Univ Dept Mech Engn Boroujerd Iran

The asymptotic consensus problem of decentralized bidirectional (BD) longitudinal automated vehicle groups (LAVGs) is investigated in this paper. The communication topology is decentralized, and therefore, some automated vehicles (AVs) have no access to leader speed. Since the leader speed is necessary to achieve string stability, we design a linear first-order observer for each following AV to estimate the leader speed in a finite time. The LAVG is assumed to be heterogeneous which means that it consists of different AVs. We assume that the leader acceleration is limited and this limitation is involved in the finite-time speed observer design. Afterward, a linear consensus method is planned for all AVs which utilizes the relative position with respect to the front and back AVs as well as relative speed with respect to the estimation of leader speed. We will prove that: (1) each AV estimates the leader speed in a finite time, (2) the consensus law guarantees the asymptotic internal stability of the LAVG and (3) the string stability of the LAVG is obtained by applying this approach if a condition on control gains be satisfied. Numerical studies with different situations are provided to demonstrate and evaluate the merits of the introduced method.

关键词： Longitudinal automated vehicle group (LAVG) Finite-time speed observer Constant interval strategy (CIS) acceleration constraint String stability

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Unsaturated Optimal Guidance Law for Impact Angle and acceleration constraints

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IEEE ACCESS 2023年 11卷 112535-112546页

作者： Kim, Junseong Cho, Sungjin Agcy Def Dev Daejeon 34186 South Korea Sunchon Natl Univ Dept Elect Engn Sunchon 57922 South Korea

Most research on impact angle control has not addressed acceleration constraints, as it assumes that maneuverability is sufficient. However, when guidance commands are saturated due to aerodynamic or structural loads, the miss distance and impact angle errors can be significantly large. This paper presents an unsaturated optimal guidance law that satisfies acceleration constraints in a period of full flight. The proposed guidance law is established by designing a weighting function based on the closed-form solution of a time-to-go weighted optimal impact angle guidance law. This strategy theoretically guarantees optimality and convergence under acceleration constraints. Numerical simulations are conducted to validate the proposed guidance law.

关键词： Optimal guidance law impact angle control acceleration constraint closed-form solution

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Linear-quadratic and norm-bounded combined differential game guidance scheme with obstacle avoidance for attacking defended aircraft in three-player engagement

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Defence Technology（防务技术） 2024年第12期42卷 136-155页

作者： Xintao Wang Ming Yang Songyan Wang Mingzhe Hou Tao Chao Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes a pursuer,an interceptor,and an *** confrontation between the players is divided into four phases(P1-P4)by introducing the switching time,and proposing different guidance strategies according to the phase where the static obstacle is located:the linear quadratic game method is employed to devise the guidance scheme for the energy optimization when the obstacle is located in the P1 and P3 stages;the norm-bounded differential game guidance strategy is presented to satisfy the acceleration constraint under the circumstance that the obstacle is located in the P2 and P4 ***,the radii of the static obstacle and the interceptor are taken as the design parameters to derive the combined guidance strategy through the dead-zone function,which guarantees that the pursuer avoids the static obstacle,and the interceptor,and attacks the ***,the nonlinear numerical simulations verify the performance of the game guidance strategy.

关键词： Active defense aircraft Differential game theory Three-player confrontation Energy optimization acceleration constraint Obstacle avoidance

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Three-dimensional cooperative guidance strategy and guidance law for intercepting highly maneuvering target

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Chinese Journal of Aeronautics 2021年第5期34卷 485-495页

作者： Ziyan CHEN Jianglong YU Xiwang DONG Zhang REN School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang UniversityBeijing 100191China Beijing Advanced Innovation Center for Big Data cmd Brain Computing Beihang UniversityBeijing 100191China

Cooperative interception of the target with strong maneuverability by multiple missiles with weak maneuverability in the three-dimensional nonlinear model is ***,the three-dimensional nonlinear model of cooperative guidance is *** three-dimensional reachable region is represented composed of lateral acceleration and longitudinal acceleration in the two-dimensional coordinate ***,the problem of the multiple missile’s reachable coverage area is transformed into the problem of cooperative coverage.A cooperative coverage strategy is proposed and an algorithm for quickly calculating the number of required missiles is ***,the guidance law based on the cooperative coverage strategy is proposed,and it is proved that cooperative interception of the target can be achieved under the acceleration ***,the relations among the number of missiles,the initial array position of terminal guidance and the coverage area of the target’s large maneuver are *** dynamic adjustment strategy of guidance parameters is proposed to reduce the guidance ***,simulation results show that multiple missiles with low maneuverability can achieve effective interception of target with strong maneuverability through the proposed cooperative strategy and cooperative guidance method.

关键词： acceleration constraint Cooperative interception Coverage strategy Guidance law Highly maneuvering target

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Two-phase guidance law for impact time control under physical constraints

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Chinese Journal of Aeronautics 2020年第11期33卷 2946-2958页

作者： Yang TANG Xiaoping ZHU Zhou ZHOU Fei YAN National Key Laboratory of Science and Technology on UAV Northwestern Polytechnical UniversityXi’an 710065China UAV Research Institute Northwestern Polytechnical UniversityXi'an 710065China School of Aeronautics Northwestern Polytechnical UniversityXi'an 710072China

An impact-time-control guidance law is required for the simultaneous attack of suicide attack unmanned aerial *** on the nonlinear model,a two-phase guidance strategy is *** impact time is derived in a simple analytical form of initial states and switching states,and it can be controlled by switching at an appropriate ***,a two-phase guidance law is designed to make the magnitude of the heading error decrease monotonically from its initial value to *** then,the feasible interval of the switching ranges and of the impact times under the acceleration constraint are given analytically in ***,a general form of twophase guidance law is proposed,which allows the magnitude of the heading error to increase in the first phase,to improve the applicability of the *** the same structure as proportional navigation guidance with a time-varying gain,the proposed algorithms are simple and easy to *** corresponding feedback form is presented for realistic *** a predefined impact time is taken within its permissible set,the constraints on the acceleration and fieldof-view will not be violated during the ***,simulations validate the effectiveness of the methodology in impact time control and salvo attack.

关键词： acceleration constraint Field-of-view constraint Guidance Impact time control Switching

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Robust impact angle constraints guidance law with autopilot lag and acceleration saturation consideration

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2019年第1期41卷 182-192页

作者： Song, Junhong Song, Shenmin Harbin Inst Technol Ctr Control Theory & Guidance Technol 2 Yi Kuang St Harbin 15001 Heilongjiang Peoples R China

In this paper, for the three-dimensional terminal guidance problem of a missile intercepting a manoeuvring target, a robust continuous guidance law with impact angle constraints in the presence of both an acceleration saturation constraint and a second-order-lag autopilot is developed. First, based on non-singular fast terminal sliding mode and adaptive control, a step-by-step backstepping method is used to design the guidance law. In the process of guidance law design, with the use of a finite-time control technique, virtual control laws are developed, a tracking differentiator is used to eliminate the explosion of complexity' problem inherent in the traditional backstepping method, and an additional system is constructed to deal with the acceleration saturation problem;its states are used for guidance law design and stability analysis. Moreover, the target acceleration is considered bounded disturbance, but the upper bound is not required to be known in advance, whereas the upper bound is estimated online by a designed adaptive law. Next, finite-time stability of the guidance system is strictly proved by using a Lyapunov method. Finally, numerical simulations are presented to demonstrate the excellent guidance performances of the proposed guidance law in terms of accuracy and efficiency.

关键词： acceleration constraint adaptive control autopilot lag backstepping control impact angle sliding mode control

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Adaptive backstepping impact angle control with autopilot dynamics and acceleration saturation consideration

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2017年第17期27卷 3777-3793页

作者： He, Shaoming Wang, Wei Wang, Jiang Beijing Inst Technol Sch Aerosp Engn Beijing 100081 Peoples R China Cranfield Univ Sch Aerosp Transport & Mfg Cranfield Beds England

This paper presents a robust impact angle constraint guidance law for maneuvering target interception in the presence of autopilot dynamics and input saturation. The presented guidance law is designed on the basis of a combination of adaptive backstepping control technique and higher-order sliding mode differentiator. Different from existing impact angle constraint guidance law using sliding mode control, the line-of-sight angular rate and impact angle tracking error are regulated by two different virtual control laws. Because the future course of action of the target, an independent entity, cannot be predicted beforehand, adaptive laws are introduced in guidance law derivation for disturbance rejection. Unlike dynamic surface control approach, higher-order sliding mode differentiator is adopted here as an alternative way to obtain the derivatives of the virtual control laws, thus leading to the exact tracking performance of backstepping control. Detailed stability analysis shows that both the line-of-sight angular rate and impact angle error can be stabilized in a small region around zero asymptotically. Simulation results explicitly show that accurate interception is achieved with a wide range of impact angles. Copyright (C) 2017 John Wiley & Sons, Ltd.

关键词： impact angle autopilot lag acceleration constraint adaptive backstepping higher-order sliding mode differentiator

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Adaptive Backstepping Motion Control of Hydraulic Actuators with Velocity and acceleration constraints

Adaptive Backstepping Motion Control of Hydraulic Actuators ...

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2014中国制导、导航与控制学术会议

作者： Wenxiang Deng Jianyong Yao Zongxia Jiao School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing210094 China Science and Technology on Aircraft Control LaboratoryBeihang UniversityBeijing100191 China

ISBN: (纸本)9781479946983

In this paper,an adaptive backstepping controller is designed for positioning servo system driven by a hydraulic *** constraints on both output velocity and acceleration are taken into consideration due to performance and/or physical *** mechanism of these constraints satisfaction uses a barrier Lyapunov function,which grows to infinity when its arguments approach some pre-set limits,to prevent constraint *** ensuring the stabilization of the barrier Lyapunov function in the dynamic motion closed loop,and propagating a hard-bound imposed on associated error signals through the steps of the backstepping procedure,we guarantee that the system output velocity and acceleration constraints are not ***,a stable discontinuous projection based adaptive controller is constructed to tackle systems unknown *** tracking is achieved without violation of the constraints under mild initial *** simulation results are provided to illustrate the performance of the proposed control scheme,compared with a standard adaptive backstepping controller based on a Quadratic Lyapunov function.

关键词： Lyapunov methods acceleration control adaptive control closed loop systems control nonlinearities control system synthesis hydraulic actuators motion control servomechanisms velocity control acceleration constraint adaptive backstepping controller design adaptive backstepping motion control asymptotic tracking barrier Lyapunov function constraint satisfaction dynamic motion closed loop hydraulic actuator positioning servo system quadratic Lyapunov function stable discontinuous projection based adaptive controller velocity constraint acceleration Adaptive systems Backstepping Hydraulic actuators Trajectory Uncertainty

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An interpolation algorithm of B-spline curve based on S-curve acceleration/deceleration with interference pre-treatment

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INTERNATIONAL JOURNAL OF COMPUTER APPLICATIONS IN TECHNOLOGY 2021年第1期66卷 51-62页

作者： Wang Guirong Wang Qi Cui Xiaohong Xu Suan Zhang Shiwei China Jiliang Univ Hangzhou 310018 Peoples R China

The B-spline curve interpolation algorithm based on S-curve acceleration/deceleration (ACC/DEC) with interference pre-treatment is proposed to achieve a smooth transition of feed-rate, and to reduce the impact with acceleration mutation in Computer Numerical Control (CNC) machining. According to the demand of chord error, the algorithm divides a B-spline curve by velocity cusps. The interference points of the whole curve can be found out by using the S-curve ACC/DEC calculation for the velocity cusps of the whole curve from the forward and reverse directions. Then, the feed-rate of interference points is re-determined to avoid jerk overrun on the curve segments between mutual interference points, so as to improve the processing stability of machine tools. The simulation and experiment results demonstrate that the algorithm can obtain the smooth transition of feed-rate and acceleration in CNC machining, and ensured that the jerk can meet the ACC/DEC of system.

关键词： S-curve ACC/DEC interference pre-treatment piecewise curve interference points feed-rate scheduling CNC machine tools interpolation algorithm chord error feed-rate smoothing acceleration constraint

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An Analytic Solution to Fixed-Time Point-to-Point Trajectory Planning

An Analytic Solution to Fixed-Time Point-to-Point Trajectory...

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IEEE Conference on Control and Applications (CCA)

作者： Ardakani, M. Mahdi Ghazaei Stemmann, Meike Robertsson, Anders Johansson, Rolf Lund Univ Dept Automat Control LTH SE-22100 Lund Sweden

ISBN: (纸本)9781479977871

We derive an analytic solution to the problem of fixed-time trajectory generation with a quadratic cost function under velocity and acceleration constraints. This problem has a wide range of applications within motion planning. The advantage of the analytic solution compared to numerical optimization of the discretized problem is the unlimited resolution of the solution and the efficiency of the calculation, allowing sensor-based replanning and on-line trajectory generation.

关键词： acceleration control path planning trajectory control velocity control acceleration constraint analytic solution fixed-time point-to-point trajectory planning fixed-time trajectory generation motion planning numerical optimization online trajectory generation quadratic cost function sensor-based replanning velocity constraint acceleration Cost function Junctions Mathematical model Planning Robot sensing systems Trajectory Cost functions Speed limit Manipulator sensing systems acceleration control motion planning trajectory control Velocity control trajectory Path planning Junction Device Component acceleration Mathematical Model

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