This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance system...This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.展开更多
In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the prese...In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the presence of unknown external disturbances. To tackle the problem of different dynamic characteristics and facilitate the controller design, the virtual variable is introduced in the z axis of the nonlinear model of unmanned ground vehicles. By using this approach, a universal model is established for the HMAS. Moreover, a distributed disturbance observer is established to cope with the adverse influence of the external disturbances. Then, an Appointed-Time Prescribed Performance Function (ATPPF) is designed to restrict the tracking error in the predefined regions. On this basis, the distributed performance constraint controller is proposed for the HMAS based on the ATPPF and the distributed disturbance observer. Furthermore, the improved event-triggered mechanism is proposed with a dynamic threshold, which depends on the distance between the tracking error and the boundary of the ATPPF. Finally, the effectiveness of the proposed control method is verified by the comparative experiments on an HMAS.展开更多
In this paper,the adaptive tracking control problem for macro-micro composite positioning stage(MMCPS)with error constraints and input saturation is considered.The MMCPS has important applications in realizing high-sp...In this paper,the adaptive tracking control problem for macro-micro composite positioning stage(MMCPS)with error constraints and input saturation is considered.The MMCPS has important applications in realizing high-speed macromotion and high-precision micromotion,which can be regarded as a non-strict feedback interconnected nonlinear system.A fixed-time prescribed performance(FTPP)function is proposed to restrict the tracking error and virtual errors.Based on the designed barrier Lyapunov function,the transform errors can also be constrainted in the prescribed constant bounds.Furthermore,an auxiliary system is constructed to compensate adverse effect of the saturation nonlinearity.By integrating the nonlinear filtering technique into the backstepping control framework,the problem of computational complexity explosion can be effectively avoided.For the purpose of achieving better transient performance and improving control precision,an adaptive FTPP tracking control method is presented.According to the Lyapunov stability theory,the proposed control method guarantees that all dynamic errors can converge to the prescribed bounds within fixed time.Finally,a simulation example is given to indicate the effectiveness of the designed controller.展开更多
In this paper,a fixed-time optimized control scheme with prescribed performance is presented for bipartite consensus of nonlinear multi-agent systems(MASs).To enforce predefined transient and steady-state performance ...In this paper,a fixed-time optimized control scheme with prescribed performance is presented for bipartite consensus of nonlinear multi-agent systems(MASs).To enforce predefined transient and steady-state performance within a fixed time,a fixed-time prescribed performance function(FTPPF)is introduced.The control design is achieved via an identifier-actor-critic framework that approximates the solution to the Hamilton-Jacobi-Bellman equation.Unknown system dynamics are compensated by fuzzy logic systems,and a rounding quantizer processes the signal of the leader to reduce the communication costs.The proposed method ensures all consensus errors converge with prescribed performance bounds in a fixed time.Simulation results validate the theoretical findings.展开更多
基金the National Natural Science Foundation of China(Grant No.12072090).
文摘This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.
基金supported in part by the National Natural Science Foundation of China(Nos.U23B2036,U2013201).
文摘In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the presence of unknown external disturbances. To tackle the problem of different dynamic characteristics and facilitate the controller design, the virtual variable is introduced in the z axis of the nonlinear model of unmanned ground vehicles. By using this approach, a universal model is established for the HMAS. Moreover, a distributed disturbance observer is established to cope with the adverse influence of the external disturbances. Then, an Appointed-Time Prescribed Performance Function (ATPPF) is designed to restrict the tracking error in the predefined regions. On this basis, the distributed performance constraint controller is proposed for the HMAS based on the ATPPF and the distributed disturbance observer. Furthermore, the improved event-triggered mechanism is proposed with a dynamic threshold, which depends on the distance between the tracking error and the boundary of the ATPPF. Finally, the effectiveness of the proposed control method is verified by the comparative experiments on an HMAS.
基金supported by the National Natural Science Foundation of China(Grant Nos.62403143,52475435,52305456)the National Key Research and Development Program of China(Grant No.2024YFB4610700)+2 种基金the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2025A1515011789,2025A1515010143,2023A1515010855)the China Postdoctoral Science Foundation(Grant Nos.2025T180472,2024M750576,2024M760581)the Postdoctoral Fellowship Program(Grade C)of China Postdoctoral Science Foundation(Grant Nos.GZC20240312,GZC20230569)。
文摘In this paper,the adaptive tracking control problem for macro-micro composite positioning stage(MMCPS)with error constraints and input saturation is considered.The MMCPS has important applications in realizing high-speed macromotion and high-precision micromotion,which can be regarded as a non-strict feedback interconnected nonlinear system.A fixed-time prescribed performance(FTPP)function is proposed to restrict the tracking error and virtual errors.Based on the designed barrier Lyapunov function,the transform errors can also be constrainted in the prescribed constant bounds.Furthermore,an auxiliary system is constructed to compensate adverse effect of the saturation nonlinearity.By integrating the nonlinear filtering technique into the backstepping control framework,the problem of computational complexity explosion can be effectively avoided.For the purpose of achieving better transient performance and improving control precision,an adaptive FTPP tracking control method is presented.According to the Lyapunov stability theory,the proposed control method guarantees that all dynamic errors can converge to the prescribed bounds within fixed time.Finally,a simulation example is given to indicate the effectiveness of the designed controller.
基金supported by the National Natural Science Foundation of China(No.62322307)the Sichuan Science and Technology Program(No.2023NSFSC1968).
文摘In this paper,a fixed-time optimized control scheme with prescribed performance is presented for bipartite consensus of nonlinear multi-agent systems(MASs).To enforce predefined transient and steady-state performance within a fixed time,a fixed-time prescribed performance function(FTPPF)is introduced.The control design is achieved via an identifier-actor-critic framework that approximates the solution to the Hamilton-Jacobi-Bellman equation.Unknown system dynamics are compensated by fuzzy logic systems,and a rounding quantizer processes the signal of the leader to reduce the communication costs.The proposed method ensures all consensus errors converge with prescribed performance bounds in a fixed time.Simulation results validate the theoretical findings.
