The paper proposes a Virtual Target Guidance(VTG)-based distributed Model Predictive Control(MPC) scheme for formation control of multiple Unmanned Aerial Vehicles(UAVs).First, a framework of distributed MPC scheme is...The paper proposes a Virtual Target Guidance(VTG)-based distributed Model Predictive Control(MPC) scheme for formation control of multiple Unmanned Aerial Vehicles(UAVs).First, a framework of distributed MPC scheme is designed in which each UAV only shares the information with its neighbors, and the obtained local Finite-Horizon Optimal Control Problem(FHOCP) can be solved by swarm intelligent optimization algorithm.Then, a VTG approach is developed and integrated into the distributed MPC scheme to achieve trajectory tracking and obstacle avoidance.Further, an event-triggered mechanism is proposed to reduce the computational burden for UAV formation control, which takes into consideration the predictive state errors as well as the convergence of cost function.Numerical simulations show that the proposed VTG-based distributed MPC scheme is more computationally efficient to achieve formation control of multiple UAVs in comparison with the traditional distributed MPC method.展开更多
A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through ap...A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.展开更多
An optimal burst height is required for the fly-over and shoot-down smart ammunition with an EFP warhead at the instant of explosion which brings a special requirement to the miss distance of the terminal guidance law...An optimal burst height is required for the fly-over and shoot-down smart ammunition with an EFP warhead at the instant of explosion which brings a special requirement to the miss distance of the terminal guidance law. In this paper, a guidance law based on the virtual target scheme is proposed. First, the practical pursuit-evasion issue between the ammunition and the target with specific miss distance is transformed into a virtuai pursuit-evasion problem with zero miss distance. Secondly, a complete three-dimensional pursuit-evasion kinematics model is established without any simplifications. And then, a suboptimal guidance law is designed based on the θ-D method which has constraints of the elevation and azimuth angular velocity of the virtual line of sight （LOS）. Finally, in order to verify the performance of the proposed guidance law, three test cases are conducted. Numericai results show that under the proposed terminal guidance law, the smart ammunition not only can fly above the target with an optimal burst height but also have a smaller normal acceleration on the terminal trajectory.展开更多
A situation maintenance-based cooperative guidance strategy is proposed to intercept a high-speed and high-maneuverability target via inferior missiles.Reachability and relative motion analyses are conducted to develo...A situation maintenance-based cooperative guidance strategy is proposed to intercept a high-speed and high-maneuverability target via inferior missiles.Reachability and relative motion analyses are conducted to develop and pursue virtual targets,respectively.A two-stage guidance strategy under nonlinear kinematics is developed on the basis of virtual targets.The first stage optimizes the coverage and collision situation by pursuing virtual targets under specific angular constraints.The second stage subsequently intercepts the superior target based on the handover condition optimized by the first stage.Numerical simulation results are provided to compare the effectiveness and superiority of the proposed strategy with those of the reachability-based cooperative strategy(RCS),coverage-based cooperative guidance(CBCG)and augmented proportional navigation(APN)under various maneuvering modes.展开更多
A path-following method for fixed-wing unmanned aerial vehicles(UAVs) is presented in this paper.This method consists of an outer guidance loop and an inner control loop.The guidance law relies on the idea of tracking...A path-following method for fixed-wing unmanned aerial vehicles(UAVs) is presented in this paper.This method consists of an outer guidance loop and an inner control loop.The guidance law relies on the idea of tracking a virtual target.The motion of the virtual target is explicitly specified.The main advantage of this guidance law is that it considers the maneuvering ability of the aircraft.The aircraft can asymptotically approach the defined path with smooth movements.Meanwhile,the aircraft can anticipate the upcoming transition of the flight path.Moreover,the inner adaptive flight control loop based on attractive manifolds can follow the command generated by the outer guidance loop.This adaptive control law introduces a first-order filter to avoid solving the partial differential equation in the immersion and invariance adaptive control.The performance of the proposed path-following method is validated by the numerical simulation.展开更多
基金supported in part by the National Natural Science Foundation of China(No.61803009)Fundamental Research Funds for the Central Universities,China(No.YWF-19-BJ-J-205)Aeronautical Science Foundation of China(No.20175851032)。
文摘The paper proposes a Virtual Target Guidance(VTG)-based distributed Model Predictive Control(MPC) scheme for formation control of multiple Unmanned Aerial Vehicles(UAVs).First, a framework of distributed MPC scheme is designed in which each UAV only shares the information with its neighbors, and the obtained local Finite-Horizon Optimal Control Problem(FHOCP) can be solved by swarm intelligent optimization algorithm.Then, a VTG approach is developed and integrated into the distributed MPC scheme to achieve trajectory tracking and obstacle avoidance.Further, an event-triggered mechanism is proposed to reduce the computational burden for UAV formation control, which takes into consideration the predictive state errors as well as the convergence of cost function.Numerical simulations show that the proposed VTG-based distributed MPC scheme is more computationally efficient to achieve formation control of multiple UAVs in comparison with the traditional distributed MPC method.
文摘A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.
基金Supported by the Fundamental Scientific Research Program of China Ministries and Commissions(B2220132013)
文摘An optimal burst height is required for the fly-over and shoot-down smart ammunition with an EFP warhead at the instant of explosion which brings a special requirement to the miss distance of the terminal guidance law. In this paper, a guidance law based on the virtual target scheme is proposed. First, the practical pursuit-evasion issue between the ammunition and the target with specific miss distance is transformed into a virtuai pursuit-evasion problem with zero miss distance. Secondly, a complete three-dimensional pursuit-evasion kinematics model is established without any simplifications. And then, a suboptimal guidance law is designed based on the θ-D method which has constraints of the elevation and azimuth angular velocity of the virtual line of sight （LOS）. Finally, in order to verify the performance of the proposed guidance law, three test cases are conducted. Numericai results show that under the proposed terminal guidance law, the smart ammunition not only can fly above the target with an optimal burst height but also have a smaller normal acceleration on the terminal trajectory.
基金supported by the National Natural Science Foundation of China(Grant No.62203362)the Natural Science Basic Research Program of Shaanxi(Grant No.2023-JC-QN-0569)。
文摘A situation maintenance-based cooperative guidance strategy is proposed to intercept a high-speed and high-maneuverability target via inferior missiles.Reachability and relative motion analyses are conducted to develop and pursue virtual targets,respectively.A two-stage guidance strategy under nonlinear kinematics is developed on the basis of virtual targets.The first stage optimizes the coverage and collision situation by pursuing virtual targets under specific angular constraints.The second stage subsequently intercepts the superior target based on the handover condition optimized by the first stage.Numerical simulation results are provided to compare the effectiveness and superiority of the proposed strategy with those of the reachability-based cooperative strategy(RCS),coverage-based cooperative guidance(CBCG)and augmented proportional navigation(APN)under various maneuvering modes.
基金Project supported by the Aeronautical Science Foundation of China(Nos. 20100758002 and 20128058006)the National Natural Science Foundation of China (No. 61174168)
文摘A path-following method for fixed-wing unmanned aerial vehicles(UAVs) is presented in this paper.This method consists of an outer guidance loop and an inner control loop.The guidance law relies on the idea of tracking a virtual target.The motion of the virtual target is explicitly specified.The main advantage of this guidance law is that it considers the maneuvering ability of the aircraft.The aircraft can asymptotically approach the defined path with smooth movements.Meanwhile,the aircraft can anticipate the upcoming transition of the flight path.Moreover,the inner adaptive flight control loop based on attractive manifolds can follow the command generated by the outer guidance loop.This adaptive control law introduces a first-order filter to avoid solving the partial differential equation in the immersion and invariance adaptive control.The performance of the proposed path-following method is validated by the numerical simulation.
