Zeitschriftenartikel: „Guidance and Control Algorithm Design“

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Ha, Cheol-Keun, und Hyoung-Sik Choi. „Design of Autolanding Guidance and Control Algorithm Using Singular Perturbation“. Journal of Control, Automation and Systems Engineering 11, Nr. 8 (01.08.2005): 726–32. http://dx.doi.org/10.5302/j.icros.2005.11.8.726.

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Leng, Gerard. „Guidance Algorithm Design: A Nonlinear Inverse Approach“. Journal of Guidance, Control, and Dynamics 21, Nr. 5 (September 1998): 742–46. http://dx.doi.org/10.2514/2.4300.

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Ali, Syed Ussama, Raza Samar, M. Zamurad Shah, Aamer I. Bhatti und Khalid Munawar. „Higher-order sliding mode based lateral guidance for unmanned aerial vehicles“. Transactions of the Institute of Measurement and Control 39, Nr. 5 (23.12.2015): 715–27. http://dx.doi.org/10.1177/0142331215619972.

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A nonlinear sliding mode based scheme is developed for lateral guidance of unmanned aerial vehicles. The guidance and control system is considered as an inner and outer loop design problem, the outer guidance loop generates commands for the inner control loop to follow. Control loop dynamics is considered during derivation of the guidance logic, along with saturation constraints on the guidance commands. A nonlinear sliding manifold is selected for guidance logic design, the guidance loop generates bank angle commands for the inner roll control loop to follow. The real twisting algorithm, a higher order sliding mode algorithm is used for guidance logic design. Existence of the sliding mode along with boundedness of the guidance command is proved to ensure that controls are not saturated for large track errors. The proposed logic also contains an element of anticipatory or feed-forward control, which enables tight tracking for sharply curving paths. Efficacy of the proposed method is verified by flight testing on a scaled YAK-54 unmanned aerial vehicle. Flight results demonstrate robustness and effectiveness of the proposed guidance scheme in the presence of disturbances.

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Chao, Tao, Denghui Zhang, Songyan Wang und Ping Ma. „Integrated guidance and control design considering system uncertainty“. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, Nr. 6 (24.05.2018): 2278–90. http://dx.doi.org/10.1177/0954410018776512.

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The hypersonic vehicle has the characteristics of strong coupling, high uncertainty and complex nonlinearity, leading to an unsatisfactory control performance with the traditional design method. In this paper, an integrated guidance and control design approach is proposed to cope with this problem. A time-varying longitudinal integrated guidance and control model is first formulated, and then the overall uncertainty consisting of the un-modeled dynamic, parameter uncertainty and external disturbance is taken into account. A novel finite-time extended state observer is developed to estimate and compensate it in real time. Furthermore, an integrated guidance and control algorithm utilizing back-stepping method and the dynamic inverse is put forward. It has been theoretically proved that the finite-time extended state observer system and the cascade system are globally finite-time stable. Numerical simulation results under different kinds of uncertainty with different amplitude and frequency are presented to illustrate the effectiveness and feasibility of the proposed approach. The proposed integrated guidance and control possesses a better convergence performance and stronger disturbance rejection property in existence of the mismatched uncertainty and parameter uncertainty.

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Peng, Huei, und Masayoshi Tomizuka. „Preview Control for Vehicle Lateral Guidance in Highway Automation“. Journal of Dynamic Systems, Measurement, and Control 115, Nr. 4 (01.12.1993): 679–86. http://dx.doi.org/10.1115/1.2899196.

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The continuous time deterministic optimal preview control algorithm is applied to the lateral guidance of a vehicle for an automated highway. In the lateral guidance problem, the front wheel steering angle of the vehicle is controlled so that the vehicle follows the center for a lane with small tracking error and maintains good ride quality simultaneously. A preview control algorithm is obtained by minimizing a quadratic performance index which includes terms representing the passenger ride quality as well as the lateral tracking error, each of these terms is multiplied by a frequency dependent weight. This design method is known as a frequency shaped linear quadratic (FSLQ) optimal control approach. It permits incorporating frequency domain design specifications such as high frequency robustness and ride quality in the optimal controller design. It is shown that the optimal preview control law consists of a feedback control term and two feedforward control terms. The feedback term is exactly the same as that of traditional LQ control algorithm. The feedforward preview control action significantly improves the tracking performance and ride quality. Frequency-domain analyses, as well as numerical simulation results, show the improvements achieved by using the preview control algorithm in both the frequency and time domains.

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Dentis, Matteo, Elisa Capello und Giorgio Guglieri. „A Novel Concept for Guidance and Control of Spacecraft Orbital Maneuvers“. International Journal of Aerospace Engineering 2016 (2016): 1–14. http://dx.doi.org/10.1155/2016/7695257.

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The purpose of this paper is the design of guidance and control algorithms for orbital space maneuvers. A 6-dof orbital simulator, based on Clohessy-Wiltshire-Hill equations, is developed in C language, considering cold gas reaction thrusters and reaction wheels as actuation system. The computational limitations of on-board computers are also included. A combination of guidance and control algorithms for an orbital maneuver is proposed: (i) a suitably designed Zero-Effort-Miss/Zero-Effort-Velocity (ZEM/ZEV) algorithm is adopted for the guidance and (ii) a linear quadratic regulator (LQR) is used for the attitude control. The proposed approach is verified for different cases, including external environment disturbances and errors on the actuation system.

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Tran, Huy Ngoc, Thanh Nguyen Nhut Pham und Bao Hong Thai Vo. „A study on tracking controller design for unmanned surface vehicles using magnetic coupling thruster“. Science and Technology Development Journal 20, K5 (31.08.2017): 64–72. http://dx.doi.org/10.32508/stdj.v20ik5.1161.

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Controlling the unmanned surface vehicles to follow the object or define trajectory have many important applications in the field as military, survey quality environment so this problem has been much research on the world. This report represents the method to control the unmanned surface vehicles which use thruster with coupling follow square or zig-zag trajectories using the Line of Sight (LOS) algorithm combined with the Backstepping Controller. The system consists of three main blocks, Guidance - Control - Ship. Guidance will help to select waypoints to create the trajectory the use the LOS algorithm with lookahead distance to adjust and calculate the desired heading angle ψ. Control with the Backstepping algorithm will calculate the force and moment to apply to the dynamic model of the Ship. The position and heading angle of the vehicles will be feedback to the two Guidance-Control blocks for calculation and updating. The effectiveness of the algorithm will be presented in simulation results with MATLAB / SIMULINK

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Fu, Zhenhua, Kuanqiao Zhang, Qintao Gan und Suochang Yang. „Integrated Guidance and Control with Input Saturation and Impact Angle Constraint“. Discrete Dynamics in Nature and Society 2020 (15.09.2020): 1–19. http://dx.doi.org/10.1155/2020/5917983.

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Aiming at the problem of impact angle constraint and input saturation, an integrated guidance and control (IGC) algorithm with impact angle constraint and input saturation is proposed. A three-channel independent design model of missile IGC with impact angle constraint is established, and an extended state observer with fast finite-time convergence is designed to estimate and compensate model errors and coupling relationship between channels. Based on the nonsingular terminal sliding mode control and backstepping control, the IGC three-channel independent design is completed. Nussbaum function and an auxiliary system are introduced to deal with the input saturation. The Lyapunov function is constructed to prove the finite-time convergence of the IGC algorithm. The missile six-degree-of-freedom simulation results show the effectiveness and superiority of the IGC algorithm.

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Kim, Kangsoo, und Tamaki Ura. „Applied Model-Based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle“. Mathematical Problems in Engineering 2010 (2010): 1–23. http://dx.doi.org/10.1155/2010/149385.

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Model-based analysis and synthesis applied to the dynamics, guidance, and control of an autonomous undersea vehicle are presented. As the dynamic model for describing vehicle motion mathematically, the equations of motion are derived. The stability derivatives in the equations of motion are determined by a simulation-based technique using computational fluid dynamics analysis. The dynamic model is applied to the design of the low-level control systems, offering model-based synthetic approach in dynamics and control applications. As an intelligent navigational strategy for undersea vehicles, we present the optimal guidance in environmental disturbances. The optimal guidance aims at the minimum-time transit of a vehicle in an environmental flow disturbance. In this paper, a newly developed algorithm for obtaining the numerical solution of the optimal guidance law is presented. The algorithm is a globally working procedure deriving the optimal guidance in any deterministic environmental disturbance. As a fail-safe tactic in achieving the optimal navigation in environments of moderate uncertainty, we propose the quasi-optimal guidance. Performances of the optimal and the quasi-optimal guidances are demonstrated by the simulated navigations in a few environmental disturbances.

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Capello, Elisa, Giorgio Guglieri und Gianluca Ristorto. „Guidance and control algorithms for mini UAV autopilots“. Aircraft Engineering and Aerospace Technology 89, Nr. 1 (03.01.2017): 133–44. http://dx.doi.org/10.1108/aeat-10-2014-0161.

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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.

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Liu, Yong, Renxiang Bu und Xiaori Gao. „Ship Trajectory Tracking Control System Design Based on Sliding Mode Control Algorithm“. Polish Maritime Research 25, Nr. 3 (01.09.2018): 26–34. http://dx.doi.org/10.2478/pomr-2018-0093.

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Abstract The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.

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Liu, Yukuan, Guanglin He, Zenghui Qiao, Zhaoxuan Guo und Zehu Wang. „Measurement Compensation for Time-Delay Seeker and Three-Dimensional Adaptive Guidance Law Design“. Sensors 21, Nr. 12 (09.06.2021): 3977. http://dx.doi.org/10.3390/s21123977.

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The time delay of seekers has grown to be a serious issue for tactical missile guidance with the development of flight vehicle technologies. To address the problem, a measurement compensation system for the seeker, with lags and delays based on predictive active disturbance rejection control, is proposed. In addition, to eliminate the effects of target maneuvers to the tactical missile guidance, an adaptive finite-time convergent sliding mode guidance law, based on super-twisting algorithm, is proposed in three-dimensional missile-target engagement kinematics. Specifically, the compensation system consists of a predictive tracking structure and an active disturbance rejection control system, which could follow a virtual measurement without lags and delays. The compensation system has advantages in disturbance rejection and model inaccuracy addressing, compared with existing compensation methods for seeker measurement. As for the sliding mode guidance law design, the proposed approach is based on an improved super-twisting algorithm with fast convergent adaptive gains, which has advantages in addressing unknown but bounded target maneuvers and avoiding chattering of the classical sliding mode control. As a result, the measurement compensation system and the adaptive sliding mode guidance law is verified robust and effective under the proposed constraints by the simulation examples.

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Calise, Anthony J., Nahum Melamed und Seungjae Lee. „Design and Evaluation of a Three-Dimensional Optimal Ascent Guidance Algorithm“. Journal of Guidance, Control, and Dynamics 21, Nr. 6 (November 1998): 867–75. http://dx.doi.org/10.2514/2.4350.

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KEMSARAM, Narsimlu, Venkata Rajini Kanth THATIPARTI, Devendra Rao GUNTUPALLI und Anil KUVVARAPU. „Design and development of an on-board autonomous visual tracking system for unmanned aerial vehicles“. Aviation 21, Nr. 3 (05.10.2017): 83–91. http://dx.doi.org/10.3846/16487788.2017.1378265.

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This paper proposes the design and development of an on-board autonomous visual tracking system (AVTS) for unmanned aerial vehicles (UAV). A prototype of the proposed system has been implemented in MATLAB/ Simulink for simulation purposes. The proposed system contains GPS/INS sensors, a gimbaled camera, a multi-level autonomous visual tracking algorithm, a ground stationary target (GST) or ground moving target (GMT) state estimator, a camera control algorithm, a UAV guidance algorithm, and an autopilot. The on-board multi-level autonomous visual tracking algorithm acquires the video frames from the on-board camera and calculates the GMT pixel position in the video frame. The on-board GMT state estimator receives the GMT pixel position from the multi-level autonomous visual tracking algorithm and estimates the current position and velocity of the GMT with respect to the UAV. The on-board non-linear UAV guidance law computes the UAV heading velocity rates and sends them to the autopilot to steer the UAV in the desired path. The on-board camera control law computes the control command and sends it to the camera's gimbal controller to keep the GMT in the camera's field of view. The UAV guidance law and camera control law have been integrated for continuous tracking of the GMT. The on-board autopilot is used for controlling the UAV trajectory. The simulation of the proposed system was tested with a flight simulator and the UAV's reaction to the GMT was observed. The simulated results prove that the proposed system tracks a GST or GMT effectively.

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Samar, R., M. Zamurad Shah und M. Nzar. „Lateral Control Implementation for an Unmanned Aerial Vehicle“. ISRN Aerospace Engineering 2013 (11.06.2013): 1–14. http://dx.doi.org/10.1155/2013/905865.

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This paper presents practical aspects of guidance and control design for UAV and its flight test results. The paper focuses on the lateral-directional control and guidance aspects. An introduction to the mission and guidance problem is given first. Waypoints for straight and turning flight paths are defined. Computation of various flight path parameters is discussed, including formulae for real-time calculation of down-range (distance travelled along the desired track), cross-track deviation, and heading error of the vehicle; these are then used in the lateral guidance algorithm. The same section also describes how to make various mission-related decisions online during flight, such as when to start turning and when a waypoint is achieved. The lateral guidance law is then presented, followed by the design of a robust multivariable H∞ controller for roll control and stability augmentation. The controller uses the ailerons and rudder for control of roll angle and stabilization of yaw rate of the vehicle. The reference roll angle is generated by the nonlinear guidance law. The sensors available on-board the vehicle do not measure yaw rate; hence, a practical method of its estimation is proposed. The entire guidance and control scheme is implemented on the flight control computer of the actual aerial vehicle and taken to flight. Flight test results for different mission profiles are presented and discussed.

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Ha, Cheolkeun. „Gain-scheduled directional guidance controller design using a genetic algorithm for automatic precision landing“. International Journal of Control, Automation and Systems 8, Nr. 1 (Februar 2010): 107–17. http://dx.doi.org/10.1007/s12555-010-0114-y.

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Ragi, Shankarachary, ChingSeong Tan und Edwin K. P. Chong. „Guidance of Autonomous Amphibious Vehicles for Flood Rescue Support“. Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/528162.

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We develop a path-planning algorithm to guide autonomous amphibious vehicles (AAVs) for flood rescue support missions. Specifically, we develop an algorithm to control multiple AAVs to reach/rescue multiple victims (also called targets) in a flood scenario in 2D, where the flood water flows across the scene and the targets move (drifted by the flood water) along the flood stream. A target is said to be rescued if an AAV lies within a circular region of a certain radius around the target. The goal is to control the AAVs such that each target gets rescued while optimizing a certain performance objective. The algorithm design is based on the theory ofpartially observable Markov decision process(POMDP). In practice, POMDP problems are hard to solve exactly, so we use an approximation method callednominal belief-state optimization(NBO). We compare the performance of the NBO approach with a greedy approach.

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Liu, Xiang, und Xiaogeng Liang. „Integrated Guidance and Control of Interceptor Missile Based on Asymmetric Barrier Lyapunov Function“. International Journal of Aerospace Engineering 2019 (28.04.2019): 1–17. http://dx.doi.org/10.1155/2019/8531584.

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In this study, a novel integrated guidance and control (IGC) algorithm based on an IGC method and the asymmetric barrier Lyapunov function is designed; this algorithm is designed for the interceptor missile which uses a direct-force/aerodynamic-force control scheme. First, by considering the coupling between the pitch and the yaw channels of the interceptor missile, an IGC model of these channels is established, and a time-varying gain extended state observer (TVGESO) is designed to estimate unknown interferences in the model. Second, by considering the system output constraint problem, an asymmetric barrier Lyapunov function and a dynamic surface sliding-mode control method are employed to design the control law of the pitch and yaw channels to obtain the desired control moments. Finally, in light of redundancy in such actuators as aerodynamic rudders and jet devices, a dynamic control allocation algorithm is designed to assign the desired control moments to the actuators. Moreover, the results of simulations show that the IGC algorithm based on the asymmetric barrier Lyapunov function for the interceptor missile allows the outputs to meet the constraints and improves the stability of the control system of the interceptor missile.

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Liu, Tao, Zaopeng Dong, Hongwang Du, Lifei Song und Yunsheng Mao. „Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm“. Polish Maritime Research 24, Nr. 1 (01.03.2017): 3–11. http://dx.doi.org/10.1515/pomr-2017-0001.

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Abstract The path following control problem of the underactuated unmanned surface vessel (USV) is studied in this paper. An improved line-of-sight (LOS) guidance algorithm is proposed which can adjust adaptively based on the path following error. The global asymptotically stable path following controller is designed based on the nonlinear backstepping method and the Lyapunov stability theory. Firstly, the USV path following error model is established in the Serret-Frenet (SF) coordinate frame. The path following error in the inertial coordinate frame is transformed into the SF coordinate frame, which is used to define the path following control problem. Secondly, inspired by the traditional LOS guidance algorithm, the longitudinal path following error in the SF coordinate frame is introduced into the improved LOS guidance algorithm. This allows the algorithm to adjust adaptively to the desired path. Thirdly, in order to solve the underactuated problem of the USV path following control system, the tangential velocity of the desired path is designed as a virtual input. The underactuated problem is converted to a virtual fully actuated problem by designing the virtual control law for the tangential velocity. Finally, by combining backstepping design principles and the Lyapunov stability theory, the longitudinal thrust control law and the yaw torque control law are designed for the underactuated USV. Meanwhile, the global asymptotic stability of the path following error is proved. Simulation experiments demonstrate the effectiveness and reliability of the improved LOS guidance algorithm and the path following controller.

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Gao, Changsheng, Chunwang Jiang, Yan Zhang und Wuxing Jing. „Three-Dimensional Integrated Guidance and Control for Near Space Interceptor Based on Robust Adaptive Backstepping Approach“. International Journal of Aerospace Engineering 2016 (2016): 1–11. http://dx.doi.org/10.1155/2016/6598983.

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This study presents a novel integrated guidance and control method for near space interceptor, considering the coupling among different channels of the missile dynamics, which makes the most of the overall performance of guidance and control system. Initially, three-dimensional integrated guidance and control model is employed by combining the interceptor-target relative motion model with the nonlinear dynamics of the interceptor, which establishes a direct relationship between the interceptor-target relative motion and the deflections of aerodynamic fins. Subsequently, regarding the acceleration of the target as bounded uncertainty of the system, an integrated guidance and control algorithm is designed based on robust adaptive backstepping method, with the upper bound of the uncertainties unknown. Moreover, a nonlinear tracking differentiator is introduced to reduce the “compute explosion” caused by backstepping method. It is proved that tracking errors of the state and the upper bound of the uncertainties converge to the neighborhoods of the origin exponentially. Finally, simulations results show that, compared to the conventional guidance and control design, the algorithm proposed in this paper has greater advantages in miss distance, required normal overload, and flight stability, especially when attacking high-maneuvering targets.

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Markevich, V. E., und V. V. Legkostup. „Analytical design of the missile control device to intercept aerodynamic target“. «System analysis and applied information science», Nr. 1 (05.07.2019): 41–49. http://dx.doi.org/10.21122/2309-4923-2019-1-41-49.

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The analytical method of synthesis of devices for joint optimal estimation of parameters and control of the state of nonlinear dynamic stochastic objects is considered. A brief review of the existing and promising methods of missile guidance, as well as a comparative description of the advantages and disadvantages. Methods of improving accuracy and jamming-resistance methods of guidance, one of which is an approach based on joint estimation and state control of nonlinear object with random driving and interfering influences.The main directions of research on this subject, including statistical synthesis of the optimal control system, estimation of the potential characteristics of the designed system, analysis of the structure of the optimal system and evaluation of its simplification, the formation of quasi-optimal structures of the control system, evaluation of the criticality (sensitivity) of the system characteristics to changes in a priori information.The choice of the invariant immersion method for the analytical design of the structure of the optical evaluation-control device is substantiated. Analytical expressions describing the algorithm of functioning of the device of joint estimation and control of the state of a multidimensional nonlinear multi-connected object are given.

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Shamsuddin, Putri Nur Farhanah Mohd, Roshahliza M. Ramli und Muhamad Arifpin Mansor. „Navigation and motion control techniques for surface unmanned vehicle and autonomous ground vehicle: a review“. Bulletin of Electrical Engineering and Informatics 10, Nr. 4 (01.08.2021): 1893–904. http://dx.doi.org/10.11591/eei.v10i4.3086.

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An excellent navigation, guidance, and control (NGC) system had a high impact on trajectory tracking and the following scenarios. Both scenarios will include the heading, tangent, and velocity parameters in the computation. However, the control system design problem is not a new issue in the unmanned surface vehicle (USV) and autonomous ground vehivle (AGV) due to this constraint faced by many researchers since early these autonomy developments. Hence, this paper listed and emphasizing the techniques, including techniques implementation, strength, and the algorithm's constraints, a fusion of several techniques implemented for vehicle's stability, a turning ahead, and heading estimation. This paper concerns the similar algorithm used in the USV and AGV. Most of the selected techniques are basic algorithms and have been frequently implemented to control both vehicles' systems. Previous research shows pure pursuit guidance is the most popular technique in AGV to control the degree-of-freedom (DOF) velocity and the dynamic rate (sway, surge, and yaw). Simultaneously, the line of sight (LOS) controller is very compatible with controlling the movement of the USV. In conclusion, the technique's simulation test needs further research that will expose in the actual situation.

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Mu, Dongdong, Guofeng Wang, Yunsheng Fan, Yiming Bai und Yongsheng Zhao. „Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances“. Mathematical Problems in Engineering 2018 (2018): 1–12. http://dx.doi.org/10.1155/2018/7512606.

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This paper investigates the path following control problem for an underactuated unmanned surface vehicle (USV) in the presence of dynamical uncertainties and time-varying external disturbances. Based on fuzzy optimization algorithm, an improved adaptive line-of-sight (ALOS) guidance law is proposed, which is suitable for straight-line and curve paths. On the basis of guidance information provided by LOS, a three-degree-of-freedom (DOF) dynamic model of an underactuated USV has been used to design a practical path following controller. The controller is designed by combining backstepping method, neural shunting model, neural network minimum parameter learning method, and Nussbaum function. Neural shunting model is used to solve the problem of “explosion of complexity,” which is an inherent illness of backstepping algorithm. Meanwhile, a simpler neural network minimum parameter learning method than multilayer neural network is employed to identify the uncertainties and time-varying external disturbances. In particular, Nussbaum function is introduced into the controller design to solve the problem of unknown control gain coefficient. And much effort is made to obtain the stability for the closed-loop control system, using the Lyapunov stability theory. Simulation experiments demonstrate the effectiveness and reliability of the improved LOS guidance algorithm and the path following controller.

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Gui, Hang, Ruisheng Sun, Wei Chen und Bin Zhu. „Reaction Control System Optimization for Maneuverable Reentry Vehicles Based on Particle Swarm Optimization“. Discrete Dynamics in Nature and Society 2020 (12.03.2020): 1–11. http://dx.doi.org/10.1155/2020/6518531.

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This paper presents a new parametric optimization design to solve a class of reaction control system (RCS) problem with discrete switching state, flexible working time, and finite-energy control for maneuverable reentry vehicles. Based on basic particle swarm optimization (PSO) method, an exponentially decreasing inertia weight function is introduced to improve convergence performance of the PSO algorithm. Considering the PSO algorithm spends long calculation time, a suboptimal control and guidance scheme is developed for online practical design. By tuning the control parameters, we try to acquire efficacy as close as possible to that of the PSO-based solution which provides a reference. Finally, comparative simulations are conducted to verify the proposed optimization approach. The results indicate that the proposed optimization and control algorithm has good performance for such RCS of maneuverable reentry vehicles.

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Wang, Yexing, Humin Lei, Jikun Ye und Xiangwei Bu. „Backstepping Sliding Mode Control for Radar Seeker Servo System Considering Guidance and Control System“. Sensors 18, Nr. 9 (03.09.2018): 2927. http://dx.doi.org/10.3390/s18092927.

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This paper investigates the design of a missile seeker servo system combined with a guidance and control system. Firstly, a complete model containing a missile seeker servo system, missile guidance system, and missile control system (SGCS) was creatively proposed. Secondly, a designed high-order tracking differentiator (HTD) was used to estimate states of systems in real time, which guarantees the feasibility of the designed algorithm. To guarantee tracking precision and robustness, backstepping sliding-mode control was adopted. Aiming at the main problem of projectile motion disturbance, an adaptive radial basis function neural network (RBFNN) was proposed to compensate for disturbance. Adaptive RBFNN especially achieves online adjustment of residual error, which promotes estimation precision and eliminates the “chattering phenomenon”. The boundedness of all signals, including estimation error of high-order tracking differentiator, was especially proved via the Lyapunov stability theory, which is more rigorous. Finally, in considered scenarios, line of sight angle (LOSA)-tracking simulations were carried out to verify the tracking performance, and a Monte Carlo miss-distance simulation is presented to validate the effectiveness of the proposed method.

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Lee, Yung-Lung, Kuei-Yi Chen und Sheng-Ju Liao. „Using proportional navigation and a particle swarm optimization algorithm to design a dual mode guidance“. Computers & Electrical Engineering 54 (August 2016): 137–46. http://dx.doi.org/10.1016/j.compeleceng.2016.01.025.

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Miranda Jiménez, Leidys, Yunier Yunier Valeriano-Medina und Ángel Camero Álvarez. „Guidance scheme for paths without temporary restrictions using the Krick Felix model boat under the influence of sea currents“. Sistemas y Telemática 16, Nr. 46 (31.07.2018): 59–70. http://dx.doi.org/10.18046/syt.v16i46.3088.

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The autonomous surface vehicles are composed of a guidance, navigation, and control systems where the first one plays an important role in missions without human intervention. This article presents the design of a guidance system made of an I-LOS controller, where its purpose is to achieve the convergence and the precise following of straight paths, regardless of the sea currents presence. The controller gains adjustment is performed according to the vehicle features and the geometry of the path to follow. The proposed guidance algorithm is assessed through simulation, obtaining favorable results.

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Bai, Chengchao, Fei Lu und Xibao Xu. „Hybrid BTT/STT missile autopilot design“. Aircraft Engineering and Aerospace Technology 89, Nr. 6 (02.10.2017): 809–14. http://dx.doi.org/10.1108/aeat-05-2015-0134.

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Purpose Traditional skid-to-turn (STT) missile control mode is adopted mostly, but with the improvement of requirements for mobility and the emergence of new aerodynamic layout, a bank-to-turn (BTT) control mode gradually shows a greater advantage. However, the BTT missile also has certain defects, for example, when attacking against a maneuvering target and at the last section of guidance, the maximum lifting surface position of the missile needs to be adjusted frequently, thereby increasing the difficulty of control as well as introducing high-frequency noise. Design/methodology/approach Based on respective characteristics of the two control modes, this paper puts forward a hybrid autopilot design method based on nonlinear dynamic inversion. Firstly, the method converts overload instructions into corresponding angle instructions through the design of hybrid control guidance logic; secondly, based on the nonlinear dynamic inversion algorithm and combined with the fast-changing circuit/slowly changing circuit, a hybrid controller is designed; finally, combined with the missile mathematical model and actuator, it forms a autopilot design closed loop. Findings The simulation result shows that the non-linear dynamic inverse-based BTT/STT hybrid controller can input a track command well, normal overload and roll angle tracking performance have more advantages than the hybrid controller designed on the basis of classical control method in terms of overshooting and hysteretic characteristics. Originality/value The paper puts forward a new BTT/STT hybrid control method which has both the high mobile ability of the BTT missile and the precise control ability of the STT missile, which can adapt to the more complicated fighting environment. And, the method can effectively weaken the impact of the transformation of the control mode on the system.

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Sazgar, Hadi, Shahram Azadi und Reza Kazemi. „Trajectory planning and combined control design for critical high-speed lane change manoeuvres“. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, Nr. 2-3 (29.04.2019): 823–39. http://dx.doi.org/10.1177/0954407019845253.

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The purpose of this research is to develop an advanced driver assistance system for the integrated longitudinal and lateral guidance of vehicles in critical high-speed lane change manoeuvres. The system consists of two parts: trajectory planning and combined control. At the first, by considering the TV position and the available range of longitudinal acceleration, several trajectories with different accelerations are generated. Then, by taking into account the vehicle and tyre dynamics, the most appropriate trajectory is selected. Therefore, the chosen trajectory is collision free and dynamically feasible. Because the trajectory planning is carried out algebraically, it has low computational cost. This is especially valuable in the experimental implementations. At the second part of the study, using a robust combined longitudinal-lateral controller, the control inputs are determined and transmitted to the brake/throttle and steering actuators. Both in the trajectory planning and combined control design, the nonlinear tyre dynamics and the dynamics of throttle and brake actuators are considered. To evaluate the performance of the proposed guidance algorithm, a full CarSim dynamic model is utilized. The simulation results for critical high-speed lane change manoeuvres confirm that the proposed trajectory planning method works effectively. The tracking error is also very small and the yaw stability is guaranteed.

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Delavarpour, Nadia, Sulaymon Eshkabilov, Thomas Bon, John Nowatzki und Sreekala Bajwa. „The Tractor-Cart System Controller with Fuzzy Logic Rules“. Applied Sciences 10, Nr. 15 (29.07.2020): 5223. http://dx.doi.org/10.3390/app10155223.

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Post-planting operations (e.g., fertilizing, cover crop planting) with a tractor and towed cart in standing crop (e.g., corn) are challenging. Tractor and cart should be kept within a certain boundary region to avoid crop damage. An automatic guidance system on the tractor is the solution of the issue; however, tractor’s auto-guidance does not guarantee the cart clear and exact following of the tractor. There is insufficient research in automatic control of a towed cart. Therefore, this research was undertaken to design a controller to manage lateral and longitudinal positions of a tractor-towed cart. A novel fuzzy logic based adaptive controller algorithm is proposed to control tractor-cart system steering with additional steering torque for the cart, ensuring that the entire system follows the desired trajectory within the set constraints. A hydraulic drive design for the cart was developed with a control principle to closely follow the tractor’s path and minimize damage to the plants. The proposed steering algorithm and designed controller were validated with interchangeable trajectory patterns via simulations in MATLAB/Simulink. The results demonstrated that the performances of the designed hydraulic drive and the accuracy of the proposed control algorithm were appropriate to steer the towed-cart with minimal damages on plant rows.

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Zhang, Da, Lei Liu und Yongji Wang. „On-line Ascent Phase Trajectory Optimal Guidance Algorithm based on Pseudo-spectral Method and Sensitivity Updates“. Journal of Navigation 68, Nr. 6 (10.06.2015): 1056–74. http://dx.doi.org/10.1017/s0373463315000326.

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The objective of this paper is to investigate an online method to generate an optimal ascent trajectory for air-breathing hypersonic vehicles. A direct method called the Pseudo-spectral method shows promise for real-time optimal guidance. A significant barrier to this optimisation-based control strategy is computational delay, especially when the solution time of the non-linear programming problem exceeds the sampling time. Therefore, an online guidance algorithm for an air-breathing hypersonic vehicles with process constraints and terminal states constraints is proposed based on the Pseudo-spectral method and sensitivity analysis in this paper, which can reduce online computational costs and improve performance significantly. The proposed ascent optimal guidance method can successively generate online open-loop suboptimal controls without the design procedure of an inner-loop feedback controller. Considering model parameters' uncertainties and external disturbance, a sampling theorem is proposed that indicates the effect of the Lipschitz constant of the dynamics on sampling frequency. The simulation results indicate that the proposed method offers improved performance and has promising ability to generate an optimal ascent trajectory for air-breathing hypersonic vehicles.

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Zhao, Zhi Long, Zheng Bo Li und Man Man Ma. „The Design and Implementation of an Automatic Tracking System of Solar Energy Based on the PID Control Algorithm“. Applied Mechanics and Materials 148-149 (Dezember 2011): 692–96. http://dx.doi.org/10.4028/www.scientific.net/amm.148-149.692.

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This text, under the guidance of PID control algorithm, designs and implements a new type of solar water heater which can change orientation of its solar panel in real time to automatically follow the direction where the light is strongest by sensing the incident angle of the sun. Tests show that the new solar water heater can succeed in keeping a real-time trace of light source, which can effectively meliorate the traditional solar water heater's shortcoming of producing insufficient heat in winter in some areas and greatly improve the utilization efficiency of solar energy.

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Li, Fang, Li Fang Wang und Cheng Lin Liao. „Period Optimization Scheduling Algorithm Research of CAN Bus in Electric Vehicle“. Applied Mechanics and Materials 734 (Februar 2015): 273–76. http://dx.doi.org/10.4028/www.scientific.net/amm.734.273.

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Improving the real-time performance of CAN bus is the focus problem of in-vehicle network design. It can improve the efficiency of message transmission to meet the needs of system control requirement. This paper firstly put forward the message response time calculation method of CAN bus considering a periodic correction coefficient. Secondly, based on the message response time calculation method using periodic correction coefficient, the periodic scheduling algorithm was designed and researched, using nonlinear programming method. The efficiency of periodic scheduling algorithm was validated by an optimization example of hybrid electric vehicle message set. It can be used in the CAN bus optimization design stage, and as a guidance for the CAN bus system design.

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Wu, Rui, Wei An Jiang, Jiang Long und Ze Yi Shang. „Guided Route Creating Algorithm in Advanced-Surface Movement Guide and Control System“. Advanced Materials Research 945-949 (Juni 2014): 2741–47. http://dx.doi.org/10.4028/www.scientific.net/amr.945-949.2741.

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The research & development of intelligentialized and automated Advanced-Surface Movement Guide and Control System (A-SMGCS) is a new trend for guaranteeing the security and high efficiency of surface traffic control in the airport. Aimed at the guidance module in A-SMGCS, this paper studied the algorithm which was used for intelligently creating aircraft guided route on the ground. Using Visual C as the development platform, it introduced the design thought and the procedure of the program for realizing this algorithm. Then it has run the program and achieved the sequence of coordinated points of guided route. Comparing with the planning guided route, it analyzed the graphical results of the program. The simulation proves that the original guided route in the plan could be accurately created by this program. It also shows that this algorithm could provide some thoughts for development of A-SMGCS.

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Mohammadian, Masoud. „Design of Self-Learning Hierarchical Fuzzy Logic for Guidance and Control of Multirobot Systems“. Journal of Advanced Computational Intelligence and Intelligent Informatics 3, Nr. 6 (20.12.1999): 446–50. http://dx.doi.org/10.20965/jaciii.1999.p0446.

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Increased application of fuzzy logic to complex control raises a need for a structured methodological approach to developing fuzzy logic systems, which are currently developed based on individualistic bases and cannot face the challenge of interacting with other (fuzzy) systems in a dynamic environment. We propose designing self-learning hierarchical fuzzy logic control based on the integration of evolutionary algorithms and fuzzy logic to provide an integrated knowledge base for intelligent control and collision avoidance among multiple robots. Robots are considered point masses moving in common work space. Evolutionary algorithms are used as an adaptive method for learning the fuzzy knowledge base of control systems and learning, mapping, and interaction between fuzzy knowledge bases of different fuzzy logic systems.

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Qu, Zhengyu, Cuichun Li, Yong Hao, Feng Yan und Yanchu Yang. „Project of high altitude balloon launched micro glider: Aircraft design, control and flight test“. International Journal of Micro Air Vehicles 12 (Januar 2020): 175682932097995. http://dx.doi.org/10.1177/1756829320979955.

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This paper presents the design details and flight tests validation of printed circuit board fabricated micro gliders. The purpose of the micro glider is to be launched from a super pressure balloon at high altitude, glide to the target position to collect data and upload data to the staying balloon. The mission demand requires the micro glider to finish precise landing with small size and low fabrication cost. To complete this concept, we designed a PCB fabricated aircraft with limited sensors including GPS and IMU. The first part of the article describes the aerodynamic design methods. The second part introduced the control and guidance system design by controlling the roll angle and flight path angle to complete the precise landing. In the simulation results presented in the third part, launch with no wind condition shows desirable precise landing ability. As a contrast, wind direction and magnitude have significant effects on the guidance ability and accuracy. In the last part, two real flight tests conducted in Inner Mongolia of China are described to compare the flight performance with the current aerodynamics and control system design. Returned data indicated the micro gliders could successfully fly at high altitude. The control algorithm can compute the command roll angle only with GPS and IMU, but some design details still need to be improved to achieve precise landing ability.

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Villa, Jose, Jussi Aaltonen, Sauli Virta und Kari T. Koskinen. „A Co-Operative Autonomous Offshore System for Target Detection Using Multi-Sensor Technology“. Remote Sensing 12, Nr. 24 (16.12.2020): 4106. http://dx.doi.org/10.3390/rs12244106.

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This article studies the design, modeling, and implementation challenges for a target detection algorithm using multi-sensor technology of a co-operative autonomous offshore system, formed by an unmanned surface vehicle (USV) and an autonomous underwater vehicle (AUV). First, the study develops an accurate mathematical model of the USV to be included as a simulation environment for testing the guidance, navigation, and control (GNC) algorithm. Then, a guidance system is addressed based on an underwater coverage path for the AUV, which uses a mechanical imaging sonar as the primary AUV perception sensor and ultra-short baseline (USBL) as a positioning system. Once the target is detected, the AUV sends its location to the USV, which creates a straight-line for path following with obstacle avoidance capabilities, using a LiDAR as the main USV perception sensor. This communication in the co-operative autonomous offshore system includes a decentralized Robot Operating System (ROS) framework with a master node at each vehicle. Additionally, each vehicle uses a modular approach for the GNC architecture, including target detection, path-following, and guidance control modules. Finally, implementation challenges in a field test scenario involving both AUV and USV are addressed to validate the target detection algorithm.

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Luo, Chang, Jie Wang, Hanqiao Huang und Pengfei Wang. „Integrated Guidance and Control Based Air-to-Air Autonomous Attack Occupation of UCAV“. Mathematical Problems in Engineering 2016 (2016): 1–18. http://dx.doi.org/10.1155/2016/6431264.

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An approach of air-to-air autonomous attack occupation for Unmanned Combat Aerial Vehicles (UCAVs) is proposed to improve attack precision and combat effectiveness. According to the shortage of UCAV in the task of attack occupation, kinematic and dynamic models of UCAV and missile loaded on it are formed. Then, attack zone and no-escape zone are calculated by pattern search algorithm, and the optimum attack position is indicated. To arrive at the optimum attack position accurately with restriction of gesture, a novel adaptive sliding mode control method is suggested to design the integrated guidance and control system of UCAV in the process of autonomous attack occupation. Key parameters of the control system are adaptively regulated, which further economize control energy at the same time. The simulation results show that compared with traditional methods our approach can guide the UCAV to the optimum attack position with stable gesture and economize nearly 25% control energy.

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Sun, Ruisheng, Qiao Hong und Gang Zhu. „A Novel Optimal Control Method for Impulsive-Correction Projectile Based on Particle Swarm Optimization“. Discrete Dynamics in Nature and Society 2016 (2016): 1–9. http://dx.doi.org/10.1155/2016/5098784.

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This paper presents a new parametric optimization approach based on a modified particle swarm optimization (PSO) to design a class of impulsive-correction projectiles with discrete, flexible-time interval, and finite-energy control. In terms of optimal control theory, the task is described as the formulation of minimum working number of impulses and minimum control error, which involves reference model linearization, boundary conditions, and discontinuous objective function. These result in difficulties in finding the global optimum solution by directly utilizing any other optimization approaches, for example, Hp-adaptive pseudospectral method. Consequently, PSO mechanism is employed for optimal setting of impulsive control by considering the time intervals between two neighboring lateral impulses as design variables, which makes the briefness of the optimization process. A modification on basic PSO algorithm is developed to improve the convergence speed of this optimization through linearly decreasing the inertial weight. In addition, a suboptimal control and guidance law based on PSO technique are put forward for the real-time consideration of the online design in practice. Finally, a simulation case coupled with a nonlinear flight dynamic model is applied to validate the modified PSO control algorithm. The results of comparative study illustrate that the proposed optimal control algorithm has a good performance in obtaining the optimal control efficiently and accurately and provides a reference approach to handling such impulsive-correction problem.

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Li, Fang, Li Fang Wang und Cheng Lin Liao. „Network Optimization of X-by-Wire System Based on FlexRay Bus“. Applied Mechanics and Materials 734 (Februar 2015): 220–23. http://dx.doi.org/10.4028/www.scientific.net/amm.734.220.

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X-by-Wire system is a typical automotive network control system. The control of x-by-wire system depends on communication network (like CAN, TTCAN or FlexRay), it must meet not only the control performance, but also the real-time performance and reliability requirement. Network optimization in x-by-wire system is great significant for achieving these targets. In this paper, first task graph was designed for the x-by-wire system, and different control links were distinguished from the task graph. Then the network optimization algorithm was designed to implement message slot arrangement coordinated with task execution time in the control links, and the principle of the network optimization algorithm design is reducing the control link response time for the best effort. Through a typical car x-by-wire control system, we can see that the network optimization algorithm research has important guidance for the optimization of the system message transmission, and can improve the system's real-time performance.

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Fu, Lei, Min Xu, Xiao Min An und Xun Liang Yan. „Design and Optimization of Low-Thrust Orbit Transfers Using Hybrid Method“. Advanced Materials Research 588-589 (November 2012): 335–39. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.335.

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A low-thrust guidance scheme, which is weighted combined by taking the optimum strategy of thrust allocation and the target deficits value into consideration for each orbital element, is developed. The presented guidance scheme is predictive in nature and does not rely on a stored reference trajectory or reference controls. The orbit transfer problem is converted into parametric optimization and utilizing a hybrid genetic algorithm. The minimum-time orbit transfer is considered. The influence of the Earth’s oblateness is taken into consideration in the simulation of minimum-time. A conclusion is drawn that the designed method presented here turns out to be an autonomous scheme because the information of target orbit is considered in the transfer process.

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Guglieri, Giorgio, Franco Maroglio, Pasquale Pellegrino und Liliana Torre. „Design and development of guidance navigation and control algorithms for spacecraft rendezvous and docking experimentation“. Acta Astronautica 94, Nr. 1 (Januar 2014): 395–408. http://dx.doi.org/10.1016/j.actaastro.2013.02.010.

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Zhao, Hongqian, Honghua Dai und Zhaohui Dang. „Fast guidance method of lunar landing based on dynamic programming“. Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 39, Nr. 1 (Februar 2021): 159–66. http://dx.doi.org/10.1051/jnwpu/20213910159.

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In this paper, a novel multi-stage trajectory transfer and fixed-point landing time optimal guidance method for the lunar surface emergency rescue mission is proposed. Firstly, the whole process motion and dynamics model for the lunar surface emergency rescue with four stages are established. Then, in the initial orbit transfer phase, the Lambert algorithm based on "prediction + correction" is designed for the non spherical gravitational perturbation of the moon. In the powered descent phase, the Hamiltonian function is used to design a time suboptimal explicit guidance law that can be applied in orbit in real time. Finally, aiming at the multi-stage global time optimal guidance, the whole time process guidance law is obtained by establishing the allowable control set for each stage in the whole process. The simulation results show that compared with the piecewise optimal control method, the present method has better optimization effect and shorter whole process time. It is of great significance to the possible emergency rescue mission of manned lunar exploration in the future.

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Zhao, Bin, Zhenxin Feng und Jianguo Guo. „Integral barrier Lyapunov functions-based integrated guidance and control design for strap-down missile with field-of-view constraint“. Transactions of the Institute of Measurement and Control 43, Nr. 6 (08.01.2021): 1464–77. http://dx.doi.org/10.1177/0142331220981329.

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The problem of the integrated guidance and control (IGC) design for strap-down missile with the field-of-view (FOV) constraint is solved by using the integral barrier Lyapunov function (iBLF) and the sliding mode control theory. Firstly, the nonlinear and uncertainty state equation with non-strict feedback form for IGC design is derived by using the strap-down decoupling strategy. Secondly, a novel adaptive finite time disturbance observer is proposed to estimate the uncertainties based on an improved adaptive gain super twisting algorithm. Thirdly, the special time-varying sliding variable is designed and the iBLF is employed to handle the problem of FOV constraint. Theoretical derivation and simulation show that the IGC system is globally uniformly ultimately bounded and the FOV angle constraint is also guaranteed not only during the reaching phase but also during the sliding mode phase.

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Ortiz, Alvaro, Sergio Garcia-Nieto und Raul Simarro. „Comparative Study of Optimal Multivariable LQR and MPC Controllers for Unmanned Combat Air Systems in Trajectory Tracking“. Electronics 10, Nr. 3 (01.02.2021): 331. http://dx.doi.org/10.3390/electronics10030331.

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Guidance, navigation, and control system design is, undoubtedly, one of the most relevant issues in any type of unmanned aerial vehicle, especially in the case of military missions. This task needs to be performed in the most efficient way possible, which involves trying to satisfy a set of requirements that are sometimes in opposition. The purpose of this article was to compare two different control strategies in conjunction with a path-planning and guidance system with the objective of completing military missions in the most satisfactory way. For this purpose, a novel dynamic trajectory-planning algorithm is employed, which can obtain an appropriate trajectory by analyzing the environment as a discrete 3D adaptive mesh and performs a softening process a posteriori. Moreover, two multivariable control techniques are proposed, i.e., the linear quadratic regulator and the model predictive control, which were designed to offer optimal responses in terms of stability and robustness.

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Ngoc Huy, Tran, und Pham Nguyen Nhut Thanh. „Path following of unmanned surface vessel under the effect of position measurement noise“. Science & Technology Development Journal - Engineering and Technology 3, SI1 (12.04.2020): First. http://dx.doi.org/10.32508/stdjet.v3isi1.721.

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A manipulation system for unmanned surface vessels (USVs), as well as other unmanned vehicles and autonomous vehicles, are commonly built up by three vital components which are guidance system, a navigation system, and control system, regardless of the mechanical aspects. In which, the navigation system will first use sensors to measure and estimate parameters, then feedback to the guidance system and the control system as input data. Based on those data and assignments from the user, the guidance system calculates and outputs reference data for the control system. The control system will drive the vessel according to the reference data from the guidance system to achieve those assignments. However, the process of measuring and estimating, in fact, is always affected by disturbances, which cause input error for the guidance system. Consequently, the reference data provided by the guidance system will be skewed and confused the control system, thereby reducing the quality of control and may cause instability for the whole system. This paper examines the problem of controlling an unmanned surface vessel following straight paths created by the waypoints given by the user. To solve the path-following for straight line problem, the paper will build a guidance system using the Line of Sight (LOS) method with lookahead distance and design a controller using a Backstepping algorithm. In addition, this paper will also study, analyze, and propose a method to reduce the influence of position measurement noise on the process of calculating the reference data of the guidance system. Thereby, the quality of the built system will be guaranteed when operating under the influence of measurement noise. The results of the proposed method will be shown through simulation on MATLAB/SIMULINK software. These simulation results will demonstrate the effectiveness and feasibility of the proposed method.

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Xiong, Rong, Xin Feng Du, Wen Fei Wang, Yong Hai Wu, Jian Chu und Hong Bo Zheng. „The Integrated Design of an Interactive Service Robot for Shanghai World Expo 2010“. Advanced Materials Research 308-310 (August 2011): 2084–94. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.2084.

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This paper describes the integrated design and techniques of the HAIBAO robot, an interactive service robot developed for Shanghai World Expo 2010. Compared with previous exhibition service robots, the HAIBAO robot has improved flexible motion ability, anthropomorphic interaction ability and intelligent cognitive and decision-making ability. In addition to both hardware and software system design, some key techniques including a four-wheeled omnidirectional mechanism and its motion control and compensatory algorithm, and multitask scheduling are introduced. During the Expo, which lasted 184 days, 37 HAIBAO robots successfully served tourists by providing information, photography services, hall guidance, conversation and various entertainment. Their robustness, stability, flexibility and friendliness were greatly commended.

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Guo, Qing-wei, Wei-dong Song, Yi Wang und Zhi-cai Lu. „Guidance Law Design for a Class of Dual-Spin Mortars“. International Journal of Aerospace Engineering 2015 (2015): 1–12. http://dx.doi.org/10.1155/2015/952076.

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To minimize the cost and maximize the ease of use, a class of dual-spin mortars is designed which only rely on GPS receiver and geomagnetic measurements. However, there are some problems to be solved when the range is small, such as low correction authority and trajectory bending. Guidance law design for this mortar is detailed. Different guidance laws were designed for the ascending and descending segments, respectively. By taking variable parameter guidance law in the vertical plane and using compensation in the lateral plane, the problems mentioned above were resolved. Roll angle resolving algorithms with geomagnetic measurements were demonstrated and the experiment results proved to be effective. In order to verify the effectiveness, Seven-Degrees-of-Freedom (7-DOF) rigid ballistic model were established and hardware in the loop simulation was introduced. After the transform function of the actuator was obtained, the control model of the shell was improved. The results of the Monte Carlo simulation demonstrate that the guidance law is suitable and the mortar can be effectively controlled.

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Zhang, Wei, He Zhang, Bin Liu und Jing Xu. „Design of Small Laser Tracking System Based on Four-Quadrant Detector“. Applied Mechanics and Materials 300-301 (Februar 2013): 393–99. http://dx.doi.org/10.4028/www.scientific.net/amm.300-301.393.

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Returned laser detection is bottleneck in remote active laser detection. A practical small laser tracking system with simple structure based on four-quadrant detector (QD) is presented in this paper. For the volume restriction in weapon systems, design a small laser receiving optical system. An orientation calculation circuit based on the Sum and Difference circuit with Divisional normalization algorithm is designed to decrease the burden on processor. A simple MCU circuit based on high-speed chip C8051F020 is generated, accomplishing AD-conversion and further calculation. Through programming of the electric signals from the orientation calculation circuit with C8051F020, a control signal used by the missile guidance is formed. Laser signal receiving experiment is conducted by the circuit board as presented in this paper. It is possible to achieve the ideal requirements, and provide a good foundation for collaborative processing of other sensor signals to jointly get guided control commands.

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Chyba, Monique, John Rader und Michael Andoinian. „Creación de mapas batimétricos usando vehículos submarinos autónomos en el río Magdalena“. Ciencia y tecnología de buques 4, Nr. 7 (30.07.2010): 31. http://dx.doi.org/10.25043/19098642.38.

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The goal is to develop a guidance and navigation algorithm for an AUV to perform high resolution scanning of the constantly changing river bed of the Magdalena River, the main river of Colombia, from the river mouth to a distance of 10 Km upriver, which is considered to be the riskiest section to navigate. Using geometric control we design the required thrust for an under-actuated autonomous underwater vehicle to realize the desired mission.

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