Aiming at the problem of high-precision interception of air-maneuvering targets with impact time constraints,this paper proposes a novel guidance law based on a nonlinear virtual relative model in which the origin is ...Aiming at the problem of high-precision interception of air-maneuvering targets with impact time constraints,this paper proposes a novel guidance law based on a nonlinear virtual relative model in which the origin is attached to the target.In this way,the original maneuvering target is transformed into a stationary one.A polynomial function of the guidance command in the range domain with two unknown coefficients is introduced into the virtual model,one of the coefficients is determined to achieve the impact time constraint,and the other is determined to satisfy a newly defined virtual look angle constraint.For meeting the terminal constraints simultaneously,the guidance command can finally be obtained.The resulting solution is represented as a combination of proportional navigation guidance-like term which is aimed to meet the zero miss distance constraint,a bias term for impact time control by adjusting the length of the homing trajectory,and an additional term for target maneuvers.Numerous simulations demonstrate that the proposed law achieves an acceptable impact time error for various initial conditions against different types of maneuvering targets and shows more effective performance in comparison with those of other existing guidance laws.展开更多
The challenge and control problems of static unstable missiles are presented. The steady-state benefits of static instability are illustrated, while the corresponding control challenge is described both by the charact...The challenge and control problems of static unstable missiles are presented. The steady-state benefits of static instability are illustrated, while the corresponding control challenge is described both by the characteristic lag of airframe and the increment of necessary control usage. Control limitation led by unstable zero-pole pair is analyzed for preliminary design and evaluation. Linear control strategy is examined wherein two and three loop acceleration autopilots with different control usages are developed using an optimal control approach combined with frequency domain constraint. The weights selection and relation with system performance are detailed. Then the nonlinear backstepping recursive method is detailed to determine how well it is able to follow command and its engineering feasibility. The results show that a static unstable missile is controllable, while the actuator bandwidth is the crucial limited factor. There should be a compromise between overall performance and actuator payment.展开更多
Collaborative unmanned systems have emerged to meet our society’s wide-ranging grand challenges,with their advantages including high performance,efficiency,flexibility,and inherent resilience.Increasing levels of gro...Collaborative unmanned systems have emerged to meet our society’s wide-ranging grand challenges,with their advantages including high performance,efficiency,flexibility,and inherent resilience.Increasing levels of group/team autonomy have also been achieved due to the embodiment of artificial intelligence(AI).However,the current networked unmanned systems are primarily designed for and applicable to a narrow range of domain-specific missions,and do not have sufficient human-level intel-ligence and human needs fulfillment for the challenging missions in our lives.We propose in this paper a vision of human-centric networked unmanned systems:Unmanned Intelligent Cluster(UnIC).Within this vision,distributed unmanned systems and humans are connected via knowledge sharing and social awareness to achieve collaborative cognition.This paper details UnIC’s concept,sources of intelligence,and layered architecture,and reviews enabling technologies for achieving this vision.In addition to the technological aspects,the social acceptance issues are highlighted.展开更多
Recent advances in networked cooperative autonomous sys-tems offer the potential to significantly improve system quality for a wide range of applications.Progress in embedded processor,sensor,communication,and network...Recent advances in networked cooperative autonomous sys-tems offer the potential to significantly improve system quality for a wide range of applications.Progress in embedded processor,sensor,communication,and networking technology in the last few decades has accelerated interest in networked cooperative autonomous systems,multirobot systems,and distributed sensor networks for applications such as manufacturing,logistics,pro-cess monitoring,enhanced situational awareness,plant safety,inspection,security,and rescue operations.展开更多
Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at...Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment,this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints.Considering the fixed-wing UAV swarm flight problem in complex environment,a virtual tube model based on generator curve is established.The tube keeping,centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary.On this basis,a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace.This cooperative control method eliminates the need for respective pre-planned trajectories,reduces communication requirements,and achieves a high level of intelligence.Simulation results show that the proposed behaviorbased UAV swarm cooperative control method is able to make the fixed-wing UAV swarm,which is faster and unable to hover,fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes,and the spacing between the UAVs is larger than the minimum safe distance during the flight.展开更多
基金co-supported by the Beijing Key Laboratory of UAV Autonomous Control, China and the Key Project of Chinese Ministry of Education (No. 2022CX02702)
文摘Aiming at the problem of high-precision interception of air-maneuvering targets with impact time constraints,this paper proposes a novel guidance law based on a nonlinear virtual relative model in which the origin is attached to the target.In this way,the original maneuvering target is transformed into a stationary one.A polynomial function of the guidance command in the range domain with two unknown coefficients is introduced into the virtual model,one of the coefficients is determined to achieve the impact time constraint,and the other is determined to satisfy a newly defined virtual look angle constraint.For meeting the terminal constraints simultaneously,the guidance command can finally be obtained.The resulting solution is represented as a combination of proportional navigation guidance-like term which is aimed to meet the zero miss distance constraint,a bias term for impact time control by adjusting the length of the homing trajectory,and an additional term for target maneuvers.Numerous simulations demonstrate that the proposed law achieves an acceptable impact time error for various initial conditions against different types of maneuvering targets and shows more effective performance in comparison with those of other existing guidance laws.
基金supported by the National Natural Science Foundation of China (60972118)the Funding Project for Academic Human Resources Development in Institutions of Higher Learning under the Jurisdiction of Beijing Municipality (PHR200906131 PHR201006115)
文摘The challenge and control problems of static unstable missiles are presented. The steady-state benefits of static instability are illustrated, while the corresponding control challenge is described both by the characteristic lag of airframe and the increment of necessary control usage. Control limitation led by unstable zero-pole pair is analyzed for preliminary design and evaluation. Linear control strategy is examined wherein two and three loop acceleration autopilots with different control usages are developed using an optimal control approach combined with frequency domain constraint. The weights selection and relation with system performance are detailed. Then the nonlinear backstepping recursive method is detailed to determine how well it is able to follow command and its engineering feasibility. The results show that a static unstable missile is controllable, while the actuator bandwidth is the crucial limited factor. There should be a compromise between overall performance and actuator payment.
基金supported by the National Natural Science Foundation of China (U1913602)the National Key Research and Development Program of China (2021YFF0601304)the Civilian Aircraft Research (MJG5-1N21)
文摘Collaborative unmanned systems have emerged to meet our society’s wide-ranging grand challenges,with their advantages including high performance,efficiency,flexibility,and inherent resilience.Increasing levels of group/team autonomy have also been achieved due to the embodiment of artificial intelligence(AI).However,the current networked unmanned systems are primarily designed for and applicable to a narrow range of domain-specific missions,and do not have sufficient human-level intel-ligence and human needs fulfillment for the challenging missions in our lives.We propose in this paper a vision of human-centric networked unmanned systems:Unmanned Intelligent Cluster(UnIC).Within this vision,distributed unmanned systems and humans are connected via knowledge sharing and social awareness to achieve collaborative cognition.This paper details UnIC’s concept,sources of intelligence,and layered architecture,and reviews enabling technologies for achieving this vision.In addition to the technological aspects,the social acceptance issues are highlighted.
文摘Recent advances in networked cooperative autonomous sys-tems offer the potential to significantly improve system quality for a wide range of applications.Progress in embedded processor,sensor,communication,and networking technology in the last few decades has accelerated interest in networked cooperative autonomous systems,multirobot systems,and distributed sensor networks for applications such as manufacturing,logistics,pro-cess monitoring,enhanced situational awareness,plant safety,inspection,security,and rescue operations.
基金co-supported by the National Natural Science Foundation of China(No.61903350)the Ministry of Education industry-university-research innovation project,China(No.2021ZYA02002)the Beijing Institute of Technology Research Fund Program for Young Scholars,China(No.3010011182130)。
文摘Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment,this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints.Considering the fixed-wing UAV swarm flight problem in complex environment,a virtual tube model based on generator curve is established.The tube keeping,centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary.On this basis,a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace.This cooperative control method eliminates the need for respective pre-planned trajectories,reduces communication requirements,and achieves a high level of intelligence.Simulation results show that the proposed behaviorbased UAV swarm cooperative control method is able to make the fixed-wing UAV swarm,which is faster and unable to hover,fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes,and the spacing between the UAVs is larger than the minimum safe distance during the flight.
