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Adaptive saturated tracking control for solid launch vehicles in ascending based on differential inclusion stabilization

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Defence Technology（防务技术） 2023年第8期26卷 157-179页

作者： Fei Liu Song-yan Wang Tao Chao Ming Yang Control and Simulation Center Harbin Institute of TechnologyHarbin150090China

The large-range uncertainties of specific impulse,mass flow per second,aerodynamic coefficients and atmospheric density during rapid turning in solid launch vehicles(SLVs) ascending leads to the deviation of the actual trajectory from the reference *** of the traditional trajectory tracking methods is to observe the uncertainties by Extended State Observer(ESO) and then modify the control ***,ESO cannot accurately estimate the uncertainties when the uncertainty ranges are large,which reduces the guidance *** paper introduces differential inclusion(DI) and designs a controller to solve the large-range parameter uncertainties *** above uncertainties have large ranges,it can be combined with the ascent dynamic equation and described as a DI system in the mathematical form of a *** the DI system is stabilized,all the subsets are *** from the traditional controllers,the parameters of the designed controller are calculated by the uncertain ***,the controller can solve the problem of large-range parameter uncertainties of in ***,the ascent deviation system is obtained by linearization along the reference *** trajectory tracking system with engine parameters and aerodynamic uncertainties is described as an ascent DI system with respect to state deviation,which is called DI system.A DI adaptive saturation tracking controller(DIAST) is proposed to stabilize the DI ***,an improved barrier Lyapunov function(named time-varying tangent-log barrier Lyapunov function) is proposed to constrain the state *** with traditional barrier Lyapunov function,it can dynamically adjust the boundary of deviation convergence,which improve the convergence rate and accuracy of altitude,velocity and LTIA *** addition,the correction amplitudes of angle of attack(AOA) and angle of sideslip(AOS) need to be limited in order to guarantee that the overload constraint is n

关键词： Solid launch vehicles Trajectory tracking Adaptive controller Differential inclusion

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Linear-quadratic and norm-bounded differential game combined guidance strategy against active defense aircraft in three-player engagement

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Chinese Journal of Aeronautics 2023年第8期36卷 331-350页

作者： Tao CHAO Xintao WANG Songyan WANG Ming YANG Control and Simulation Center Harbin Institute of TechnologyHarbin 150080China

A new type of guidance strategy, combining linear quadratic and norm-bounded game theory, is proposed for the scenario of an attacker against active defense aircraft in three-player engagement. The problem involves three players, an attacker, a defender and a target. The differential game theory and the solution of Hamiltonian equation are utilized to obtain the combined guidance strategy for each player with arbitrary-order dynamics. The game process is divided into4 phases, C1-C4, according to the switching time. The linear quadratic differential game guidance scheme is employed to reduce the fuel cost in the game parts of C1 and C3. The norm-bounded game guidance strategy is adopted to satisfy the constraint of control input in the game stages C2 and C4. Furthermore, zero-effort miss distance is introduced to meet the constraints of game space and defender’s killing radius in the guidance strategy, which guarantees that the attacker is able to avoid the interception of the defender and hit the target with lower fuel cost and maximum acceleration. And it is proved that the proposed guidance strategy satisfies the Nash equilibrium condition. Finally, the feasibility and superiority of combined guidance strategy are respectively illustrated by nonlinear numerical simulation and verified by comparing with linear quadratic and norm-bounded differential game guidance strategies.

关键词： Activedefense aircraft Acceleration Energy optimization Game theory Three-player engagement

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Trajectory prediction in pipeline form for intercepting hypersonic gliding vehicles based on LSTM

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Chinese Journal of Aeronautics 2023年第5期36卷 421-433页

作者： Lihan SUN Baoqing YANG Jie MA Control and Simulation Center Harbin Institute of TechnologyHarbin 150040China

The interception problem of Hypersonic Gliding Vehicles(HGVs)has been an important aspect of missile defense *** order to provide interceptors with accurate information of target trajectory,a model based on an improved Long Short-Time Memory(LSTM)network for trajectory prediction pipeline is proposed for the interception of a skip gliding hypersonic ***,for trajectory prediction required by intercepting guidance laws,the altitude,velocity and velocity direction of the target are formulated in the form of analytic functions,consisting of linear decay terms and amplitude decay sinusoidal ***,the dynamic characteristics of the model parameters are analyzed,and the target trajectory prediction pipeline is proposed with the prediction error ***,an improved LSTM network is designed to estimate parameters in a dynamically-updated manner,and estimation results are used for the calculation of the final trajectory prediction *** proposed prediction algorithm provides information on the velocity vector for midcourse guidance with the effect of prediction errors on interception taken into *** is conducted and the results show the high accuracy of the algorithm in HGVs’trajectory prediction which is conducive to increasing the interception success rate.

关键词： Hypersonic glide vehicles Long-short time memory Near space Skip glide Trajectory prediction

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Optimal Deployment of Target Localization With Distance-Dependent Noise

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IEEE Internet of Things Journal 2025年第12期12卷 20959-20972页

作者： Tian, Junxi Yang, Ming Chao, Tao Harbin Institute of Technology Control and Simulation Center National Key Laboratory of Modeling and Simulation for Complex Systems Harbin150001 China

The cooperative localization of radio-based distance measurement is one of the methods to effectively suppress the nonline of sight (NLOS) ranging errors and as a complement to visual/global navigation satellite system (GNSS) localization for unmanned aerial vehicle (UAV) in GNSS challenging or denied environments due to its motility. Target localization can be regarded as a special case of cooperative localization. Meanwhile, the UAV can be considered as a ranging node when the ranging terminal is rigidly mounted on the UAV. To improve the target localization accuracy, the optimal deployment of anchor UAVs is one of the factors we consider when the noise characteristics are different. In this paper, the range-dependent noise in a real flight environment is considered and modeled separately according to the difference in noise characteristics. Subsequently, based on this correlation model, the Fisher information matrix (FIM) and a cost function derived from the A-optimal criterion are provided. Finally, the optimal deployment conditions and the minimum mean square error (MMSE) can be derived by minimizing the cost function as the objective. Through simulation and localization experiments, the validity of the optimal deployment conditions and the corresponding MMSE are verified. Meanwhile, it is concluded that when the noise is range-dependent, it will not affect the optimal deployment result but will significantly change the value of MMSE. © 2014 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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High-precision analytical solutions for Earth coverage of constellation equipped with reentry glide vehicles

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Chinese Journal of Aeronautics 2024年第9期37卷 385-398页

作者： Ping MA Weibo SUN Jie GAO Tao CHAO Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China Beijing Institute of Spacecraft System Engineering Beijing 100094China

To efficiently and accurately design satellite constellations equipped with Reentry Glide Vehicles(RGVs),new analytical solutions are developed for calculating their coverage ***,a new coverage model is established by approximating the Reentry Reachable Domain(RRD).However,the computation of real-time relative distances between satellites and targets,which is essential for coverage analysis based on this model,imposes a significant compu-tational *** address this challenge,a coverage analysis method based on two-dimensional map theory is *** method represents the coverage conditions of a target as a fixed area on a two-dimensional map and transforms the satellite trajectory into a series of parallel *** determining the intersection points between these lines and the area boundaries,the coverage ana-lytical solutions for a target point are *** this basis,coverage theorems are presented for rapid calculation of the constellation coverage performance for an *** results demon-strate the effectiveness and high precision of the proposed analytical solutions.

关键词： Constellation Analytical solutions Reentry glide vehicle Reentry reachable domain Two-dimensional map

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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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Efficient Metal Recovery from Industrial Wastewater:Potential Oscillation and Turbulence Mode for Electrochemical System

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Engineering 2024年第7期38卷 184-193页

作者： Li Chen Gong Zhang Huijuan Liu Shiyu Miao Qingbai Chen Huachun Lan Jiuhui Qu Center for Water and Ecology State Key Joint Laboratory of Environment Simulation and Pollution ControlSchool of EnvironmentTsinghua UniversityBeijing 100084China

Efficient metal recovery from industrial wastewater facilitates addressing of the environmental hazards and resource requirements of heavy *** conventional electrodeposition recovery method is hampered by the limitations of interfacial ion transport in charge-transfer reactions,creating challenges for simultaneous rapid and high-quality metal ***,we proposed integrating a transient electric field(TE)and swirling flow(SF)to synchronously enhance bulk mass transfer and promote interfacial ion *** investigated the effects of the operation mode,transient frequency,and flow rate on metal recovery,enabling determination of the optimal operating conditions for rapid and efficient sequential recovery of Cu in TE&SF *** conditions included low and high electric levels of 0 and 4 V,a 50%duty cycle,1 kHz frequency,and 400 L·h^(-1)flow *** kinetic coefficients of TE&SF electrodeposition were 3.5-4.3 and 1.37-1.97 times that of single TE and SF electrodeposition,*** the deposition process under TE and SF conditions confirmed the efficient concurrence of interfacial ion transport and charge transfer under TE and SF synergy,which achieved rapid and highquality metal ***,the combined deposition strategy is considered an effective technique for reducing metal pollution and promoting resource recycling.

关键词： Ion transport Reaction kinetics Transient electric field Swirling flow

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Robust spline-line energy management guidance algorithm with multiple constraints and uncertainties for solid rocket ascending

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Chinese Journal of Aeronautics 2022年第2期35卷 214-234页

作者： Songyan WANG Fei LIU Tao CHAO Ming YANG Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China

For the solid rocket with depletion shutdown system,effective energy management is significant to meet terminal constraints by exhausting excess *** traditional energy management algorithms cannot satisfy the altitude constraint and path constraints are not sufficiently *** velocity adjustment capability of these algorithms is limited and the uncertainties are not *** on the on-line programming of velocity capability curve,Spline-Line Energy Management(SLEM)guidance algorithm is *** introduces lateral maneuvers to further consume the available velocity on the basis of longitudinal energy *** expressing the constraints as several algebraic equations,the closed-loop guidance problem is converted to solving a system of nonlinear equations about the curve parameters in real *** advantage is that the altitude constraint can be satisfied *** overload and control variable change rate and amplitude constraints are also considered during the flight by constructing the feasible boundary of velocity capability *** improve the robustness,it is further extended by estimating the actual *** effectiveness and advantages of SLEM are demonstrated by simulations and comparisons with other energy management *** results show that the proposed approach can satisfy multiple constraints with high precision under the condition of uncertainties.

关键词： Ascent guidance Energy management Multiple constraints Solid rockets Uncertainty Velocity capability curve

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Target localization method of non-cooperative spacecraft on on-orbit service

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Chinese Journal of Aeronautics 2022年第11期35卷 336-348页

作者： Yingxiao LI Ju HUO Ping MA Ruiye JIANG Control and Simulation Center Harbin Institute of TechnologyHarbin 150001 China

With the explosion of the number of meteoroid/orbital debris in terrestrial space in recent years, the detection environment of spacecraft becomes more complex. This phenomenon causes most current detection methods based on machine learning intractable to break through the two difficulties of solving scale transformation problem of the targets in image and accelerating detection rate of high-resolution images. To overcome the two challenges, we propose a novel noncooperative target detection method using the framework of deep convolutional neural ***, a specific spacecraft simulation dataset using over one thousand images to train and test our detection model is built. The deep separable convolution structure is applied and combined with the residual network module to improve the network’s backbone. To count the different shapes of the spacecrafts in the dataset, a particular prior-box generation method based on K-means cluster algorithm is designed for each detection head with different scales. Finally, a comprehensive loss function is presented considering category confidence, box parameters, as well as box confidence. The experimental results verify that the proposed method has strong robustness against varying degrees of luminance change, and can suppress the interference caused by Gaussian noise and background complexity. The mean accuracy precision of our proposed method reaches 93.28%, and the global loss value is 13.252. The comparative experiment results show that under the same epoch and batchsize, the speed of our method is compressed by about 20% in comparison of YOLOv3, the detection accuracy is increased by about 12%, and the size of the model is reduced by nearly 50%.

关键词： Spacecraft service High resolution image Object detection Complex environment Lightweight model

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Modified rolling guidance law for single moving mass controlled reentry vehicle against maneuvering target with impact angle constraints

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Chinese Journal of Aeronautics 2022年第6期35卷 226-239页

作者： Guanlin LI Ming YANG Songyan WANG Tao CHAO Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China

This paper deals with the problem of guidance law design for the single moving mass controlled reentry vehicle when impact angle constraints and maneuvering target are taken into *** specifically,a modified rolling guidance law is proposed with the interactive virtual target and the landing point prediction ***,considering the fact that the roll channel can be controlled directly,the relative motion between the single moving mass controlled reentry vehicle and the target is described by the error angle between the relative velocity and the ***,a nonlinear error angle command is given to reduce the rotation *** satisfy impact angle constraints,an interactive virtual target is presented and the‘‘S”formed velocity of the virtual target is given to abate the error angle tracking difficulty at the final stage of the reentry ***,the landing point prediction strategy is employed and the motion variation trend is also taken into *** the maneuvering target is replaced with the predicted landing point,the error angle tracking difficulty caused by the target velocity decreases,which is helpful to meet impact angle constraints and improve guidance accuracy at the same ***,the finite-time rolling guidance law is proposed and proved via Lyapunov stability *** with the existing method,lower-speed rotation,smaller missing distance and less impact angle errors are obtained,which can be demonstrated by numerical simulations.

关键词： Reentry vehicles Guidance law Impact angle Maneuvering target Finite-time convergence

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