检索结果-内蒙古大学图书馆

guidance and Control for UAV Aerial Refueling Docking Based on Dynamic Inversion with L_1 Adaptive Augmentation

Transactions of Nanjing University of Aeronautics and Astronautics 2015年第1期32卷 35-41页

作者：袁锁中甄子洋江驹 College of Automation Engineering Nanjing University of Aeronautics and Astronautics

The guidance and control for UAV aerial refueling docking based on dynamic inversion with L1 adaptive augmentation is *** order to improve the tracking performance of UAV aerial refueling docking,aguidance algorithm is developed to satisfy the tracking requirement of position and velocity,and it generates the UAV flight control loop *** flight control loop,based on the 6-DOF nonlinear model,the angular rate loop and the attitude loop are separated based on time-scale principle and the control law is designed using dynamic *** throttle control is also derived from dynamic inversion ***,an L1 adaptive augmentation is developed to compensate for the undesirable effects of modeling uncertainty and *** digital simulations are carried *** results show that the guidance and control system has good tracking performance and robustness in achieving accurate aerial refueling docking.

关键词： aerial refueling dynamic inversion guidance algorithm L1adaptive augmentation

来源：评论

学校读者我要写书评

暂无评论

guidance and control algorithms for mini UAV autopilots

引用

AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY 2017年第1期89卷 133-144页

作者： Capello, Elisa Guglieri, Giorgio Ristorto, Gianluca Politecn Torino Dipartimento Ingn Meccan & Aerosp Turin Italy Univ Bozen Bolzano FUB Fac Sci & Technol Bolzano Italy

Purpose - The aim of this paper is the implementation and validation of control and guidance algorithms for unmanned aerial vehicle (UAV) autopilots. Design/methodology/approach - The path-following control of the UAV can be separated into different layers: inner loop for pitch and roll attitude control, outer loop on heading, altitude and airspeed control for the waypoints tracking and waypoint navigation. Two control laws are defined: one based on proportional integrative derivative (PID) controllers both for inner and outer loops and one based on the combination of PIDs and an adaptive controller. Findings - Good results can be obtained in terms of trajectory tracking (based on waypoints) and of parameter variations. The adaptive control law guarantees smoothing responses and less oscillations and glitches on the control deflections. Practical implications - The proposed controllers are easily implementable on-board and are computationally efficient. Originality/value - The algorithm validation via hardware in the loop simulations can be used to reduce the platform set-up time and the risk of losing the prototype during the flight tests.

关键词： Autopilot algorithms for UAVs guidance algorithm Robust and adaptive control laws

来源：评论

学校读者我要写书评

暂无评论

Sideslip-Compensated guidance-Based Adaptive Neural Control of Marine Surface Vessels

引用

IEEE TRANSACTIONS ON CYBERNETICS 2022年第5期52卷 2860-2871页

作者： Rout, Raja Cui, Rongxin Yan, Weisheng Northwestern Polytech Univ Sch Marine Sci & Technol Xian 710072 Peoples R China Manipal Univ Jaipur Dept Mechatron Engn Jaipur 303007 Rajasthan India

This article presents an improved guidance law for underactuated marine vessels that compensates cross-track error caused by external disturbances through its sideslip. The proposed guidance law demonstrates improved path-following performance regardless of disturbances, such as waves, winds, and ocean currents. This article also presents an adaptive neural-network (NN) control law for the partially known vessel dynamics with state constraints. For satisfying the state constraints, this control scheme adopts an integral barrier Lyapunov function (iBLF)-based backstepping control technique. It is shown that the closed-loop system remains bounded, and state constraints are always satisfied. Finally, the efficacy of the improved guidance law and iBLF-based adaptive control strategy was verified in simulation and experiments using an autonomous surface vessel.

关键词： Artificial neural networks Vehicle dynamics Adaptive systems Dynamics Heuristic algorithms Oceans Kinematics Autonomous marine vessel barrier Lyapunov function (BLF) dynamic surface control (DSC) guidance algorithm line of sight (LOS) neural network (NN) state constraints

来源：评论

学校读者我要写书评

暂无评论

Collision Avoidance Regulation-Compliant Orientation guidance and Maneuvering Control Approach for Snake Robots

引用

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第9期71卷 10955-10965页

作者： Xiu, Yang Deng, Hongbin Li, Dongfang Law, Rob Wu, Edmond Q. Zhu, Limin Beijing Inst Technol Sch Mechatron Engn Beijing 100081 Peoples R China Fuzhou Univ Sch Elect Engn & Automat Fuzhou 350108 Peoples R China Hong Kong Polytech Univ Dept Ind & Syst Engn Hong Kong Peoples R China Shanghai Jiao Tong Univ Sino US Global Logist Inst Shanghai 200240 Peoples R China Univ Macau Asia Pacific Acad Econ & Management Macau 999078 Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China

Snake robots under environments with avoidance constraints hardly track routes such that traditional guidance approaches become infeasible. Motivated by it, this work presents a line-of-sight-guidance virtual-snake-robot integrated scheme for snake robots to track paths and obey collision avoidance regulations. Main contributions include the avoidance regulation-compliant kinematics guidance law and finite-time-converged adaptive dynamic controller. In kinematics, a virtual leader is used to optimize nondifferentiable inflection into smooth to provide a jitter-free direction. Considering avoidance constraints, corresponding guidance strategies are innovatively designed for head-on, overtaking, and crossing scenarios to ensure the safety and autonomy of path tracking. In terms of dynamics, maneuvering control is executed by a finite-time disturbance observer-based event-triggered terminal sliding-mode controller. The unmeasured errors and uncertainties are accurately compensated, and input event-triggering rules can reduce the actuator burden. Finally, the stability analysis proves system errors' finite-time convergence, and result validations confirm the performance superiority and feasibility of this method.

关键词： Snake robots Collision avoidance Robots Turning Regulation Marine vehicles Vehicle dynamics guidance algorithm path following snake robot

来源：评论

学校读者我要写书评

暂无评论

AUTONOMOUS VEHICLE guidance USING NEURAL NETWORK AND RANDOM FOREST MODEL

AUTONOMOUS VEHICLE GUIDANCE USING NEURAL NETWORK AND RANDOM ...

引用

ASME International Mechanical Engineering Congress and Exposition (IMECE)

作者： Gadhvi, Tirth Shankar, Praveen HL Mando Bay City MI 48706 USA Calif State Univ Long Beach Long Beach CA USA

ISBN: (纸本)9780791887639

In this paper, a guidance strategy for autonomous vehicles aimed at preventing collisions caused by faulty sensor data is presented. A kinematic bicycle model is utilized to generate a vehicle motion dataset for training the prediction models. The algorithm employs a random forest prediction model, utilizing a neural network generated dataset to minimize errors in planning the motion. As a case study for implementing the guidance algorithm, a freeway entrance ramp scenario was simulated utilizing MATLAB. The guidance strategy addresses the limitations of GPS-based autonomous vehicle navigation systems, which may experience inaccuracies due to atmospheric conditions and other factors, thereby preventing collisions under such conditions of error.

关键词： Neural Networks Random Forest guidance algorithm Automotive technologies Computational kinematics

来源：评论

学校读者我要写书评

暂无评论

Mobile Robot Modelling and Autonomous guidance 2

Mobile Robot Modelling and Autonomous Guidance

引用

Automatic Control (CCAC), 2015 IEEE 2nd Colombian Conference on Automatic Control

作者： Perez-Montenegro, Carlos Canuto, Enrico Cardenas-Olaya, Andrea Acuna-Bravo, Wilber Politecn Torino Dept Control & Comp Engn I-10129 Turin Italy Politecn Torino Dept Elect & Telecommun I-10129 Turin Italy Univ Antonio Narino Bogota Colombia

ISBN: (纸本)9781467393058

This paper presents a generic model for a mobile robot with n wheels and active suspension. The model is presented in the fashion of an Embedded Model (EM) in order to apply the control framework known as Embedded Model Control (EMC). EMC is a model based control technique which allows the proper active real-time estimation and rejection of system disturbances. This research constitutes the initial steps for the application of the EMC framework and its future implementation on mobile robotics related problems. A guidance strategy with elliptical trajectories is developed, which guaranties position and attitude constraints. Some simulations are presented at the end showing the capabilities of the model and guidance algorithm built and presented.

关键词： Mobile robots Model Based Control Autonomous vehicles guidance algorithm

来源：评论

学校读者我要写书评

暂无评论

Autonomous guidance for Proximity to Target Spacecraft

Autonomous Guidance for Proximity to Target Spacecraft

引用

IEEE International Conference on Mechatronics and Automation

作者： Sun, Zhaowei Wu, Shunan Lan, Shengchang Harbin Inst Technol Res Ctr Satellite Techonol Harbin 150001 Peoples R China

ISBN: (纸本)9781424426928

This paper presents the guidance algorithms of chase spacecraft for autonomous proximity to target spacecraft. The process of autonomous proximity is initially divided into three phases including proximity maneuver, fly-around maneuver and final approach. Based on the Hill equation, the characteristic of each phase is analyzed and then the criteria to design guidance algorithm is proposed. Then, the multi-pulse algorithm is adopted in proximity maneuver and final approach phases, capable of achieving the maneuver in any direction and orbit plane. Different orbit is then planned in each phase in accordance with mission requirements and proposed criteria. Finally, simulation is performed to prove this guidance algorithm. The Offered is an easy way for engineering realize, the analyses and opinions included in this paper can be generic applied in the future space tasks.

关键词： guidance algorithm Flyaround maneuvers Proximity operation Maneuver flying

来源：评论

学校读者我要写书评

暂无评论

Implementation and Application of guidance law using Aerodynamic Data for Simulation Purposes 14

Implementation and Application of Guidance law using Aerodyn...

引用

14th International Conference on Control, Automation and Systems (ICCAS)

作者： Zhang Wei Jin Jian-yun Masood, Khayyam Li Lin Ma Ze-hao Northwestern Polytech Univ Sch Aeronaut Xian 710072 Peoples R China

ISBN: (纸本)9788993215069

This paper describes a new technique for simulating the guidance of a SAM (surface to air missile) without the help of a controller. This analysis is fully automated in a closed loop using the features of commercial software MATLAB. The guidance algorithm is simulated with the help of aerodynamic data. Control law is not used for obtaining the desired deflections of the control surfaces rather reverse aerodynamics are used to calculate the commanded accelerations which are implied by the guidance system. The addition required in aerodynamics coefficients are calculated through reverse aerodynamics which are later on used to calculate the deflections required. These deflections are passed through actuator dynamics to obtain real deflections. The deflections obtained from actuator are then passed to aerodynamic block to calculate the desired aerodynamic forces. The forces update the current information and LOS (line of sight) of the guidance block thus creating a closed loop system. This technique has a unique solution for a unique guidance algorithm thus ensuring the path followed by the SAM is only dependent on guidance algorithm. This enables an efficient way to diagnose which guidance algorithm is suitable for a particular system without getting into the complexity of updating the controller and re-tuning of controller gains.

关键词： guidance algorithm SAM Aerodynamics Mathematical Modelling Simulation

来源：评论

学校读者我要写书评

暂无评论

The guidance and control of wire-guided torpedo in the condition of the torpedo noise covering the target noise 4

The guidance and control of wire-guided torpedo in the condi...

引用

4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Yin, Wen Jin Zhang, Jing Yuan Rao, Zhe Zhang, Yong Ping Naval University of Engineering China

ISBN: (纸本)9783038352570

This paper studies the attack method in the condition of the torpedo noise covering the target noise with the help of calculation azimuth guidance. To verify the effectiveness of the scheme, the paper does simulation calculation. The simulation results demonstrated that the effect is good and the scheme haves usage value. © (2014) Trans Tech Publications, Switzerland.

关键词： Torpedo noise Wire-guided torpedo guidance algorithm guidance analog computation Noise Standing Orders Targets Simulation results Scheme azimuth TORPEDO NOISE

来源：评论

学校读者我要写书评

暂无评论

Collision Avoidance algorithm for a Fixed-Wing UAV Utilizing Geometric Estimation Considering Multiple Dynamic Obstacles

引用

INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES 2024年第4期25卷 1446-1463页

作者： Yu, Sinhyung Park, Jongho Ajou Univ Dept Mil Digital Convergence Suwon 16499 South Korea Ajou Univ Dept AI Convergence Network Suwon 16499 South Korea

Navigating through environments replete with obstacles while adhering to dynamic constraints poses a formidable challenge for fixed-wing Unmanned Aerial Vehicles (UAVs), as they remain vulnerable to collision threats. Moreover, in scenarios involving multiple dynamic obstacles, a quick and reactive maneuver is needed. To address this challenge, this paper introduces a collision avoidance algorithm tailored for fixed-wing UAVs operating within dynamic constraints amidst a multi-obstacle environment. Leveraging a geometric approach with low computational load, this algorithm offers a pragmatic solution for ensuring UAV safety and maneuverability in complex airspace scenarios. The algorithm uses a discrete Kalman filter to predict obstacle trajectories and generates a two-dimensional plane containing the minimum of the obstacle trajectory. A target point for collision avoidance is computed according to the resulting two-dimensional plane considering the movement trajectory of the obstacle and dynamic constraints of the unmanned aerial vehicle. Moreover, the collision times are predicted for scenarios with multiple obstacles. Numerical simulations are performed to demonstrate the effectiveness of the proposed algorithm.

关键词： Collision avoidance Dynamic environment guidance algorithm Kalman filter Multiple obstacles Unmanned aerial vehicle

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：