A novel sliding mode guidance law without line-of-sight angular rate information accounting for autopilot lag

He, Shaoming; Wang, Jiang; Wang, Wei

doi:10.1080/00207721.2017.1382607

Cited by 7 publications

(5 citation statements)

References 40 publications

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“…An observer can be introduced to estimate the unmeasured BLOS angular rateη (namely x 2 ) and the total disturbance d [38]- [41]. Herein, a homogeneous observer is designed according to [42] as…”

Section: Igc Law Design and Stability Analysis A Igc Law Designmentioning

confidence: 99%

Integrated Strapdown Missile Guidance and Control With Field-of-View Constraint and Actuator Saturation

et al. 2020

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This paper presents an integrated guidance and control (IGC) law for the strapdown homing missile with consideration of the field-of-view (FOV) constraint and actuator saturation. Given that the commonly-required guidance information, such as the inertial line-of-sight (LOS) angle and/or its angular rate, cannot be measured by the strapdown seeker, a detailed IGC model considering the gravity and timevarying missile velocity is first derived based on the only measurable information, the body-LOS (BLOS) angle. Then a novel IGC controller is designed for this model by means of the integral-type Barrier Lyapunov Function (iBLF) based dynamic surface control technique. This IGC controller following the pure tracking principle is capable of forcing the BLOS angle to track the negative angle of attack while satisfying the FOV constraint and actuator saturation in an integrated manner, thereby guaranteeing a precise attack on a stationary ground target. The stability of closed-loop system and the boundedness of constrained BLOS angle are both proved strictly, and the performance of proposed IGC controller is thoroughly testified by method comparisons and Monte-Carlo analysis. INDEX TERMS Actuator saturation, body-LOS (BLOS) angle, dynamic surface control, FOV constraint, integral-type Barrier Lyapunov Function (iBLF), integrated guidance and control (IGC).

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Section: Igc Law Design and Stability Analysis A Igc Law Designmentioning

confidence: 99%

Integrated Strapdown Missile Guidance and Control With Field-of-View Constraint and Actuator Saturation

et al. 2020

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“…However, due to the lack of the guidance subsystem, the control lag caused by the large inertia of UAV cannot be solved. Line of sight (LOS) guidance is the most widely used among guidance methods due to its simplicity and ease of implementation and many control strategies combined with LOS has been proposed to meet various practical needs, including unmanned surface vehicle (Jiang et al, 2020; Liu et al, 2015; Rout et al, 2020; Woo et al, 2019) underwater vehicles (Sahu and Subudhi, 2017; Wang et al, 2020) and unmanned aerial vehicle (Chen et al, 2016; Chen et al, 2019; He et al, 2017; Hu et al, 2020; Wang et al, 2019; Zheng and Zou, 2016; Zuo et al, 2019), these LOS-based control strategies can compensate for control lag, but the optimized indicators are generally designed as the shortest settling time and the minimum path deviation, which inevitably leads to overshoot of the following path. This paper therefore introduces a novel guidance and control system based on the IPSO algorithm, the LOS guidance law and the PI controller, which can meet the needs of fast non-overshoot control.…”

Section: Introductionmentioning

confidence: 99%

A non-overshooting controller for vehicle path following

Wang

Zhang

2021

Transactions of the Institute of Measurement and Control

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Unmanned pavement construction is of great significance in China, and one of the most important issues is how to follow the designed path near the boundary of the pavement construction area to avoid curbs or railings. In this paper, we raise a simple yet effective controller, named the proportional-integral-radius and improved particle swarm optimization (PIR-IPSO) controller, for fast non-overshooting path-following control of an unmanned articulated vehicle (UAV). Firstly, UAV kinematics model is introduced and segmented UAV steering dynamics model is built through field experiments; then, the raw data collected by differential global positioning system (DGPS) is used to build the measurement error distribution model that simulates positioning errors. Next, line of sight (LOS) guidance law is introduced and the LOS initial parameter is assigned based on human driving behavior. Besides, the initial control parameters tuned by the Ziegler-Nichols (ZN) method are used as the initial iterative parameters of the PSO controller. An improved PSO fitness function is also designed to achieve fast non-overshoot control performance. Experiments show that compared with the PSO, ZN and ZN-PSO controller, the PIR-PSO-based controller has significantly less settling time and almost no overshoot in various UAV initial states. Furthermore, compared with other controllers, the proposed PIR-IPSO-based controller achieves precise non-overshoot control, relatively less settling time and centimeter-level positioning error in various initial deviations.

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“…With increasing q 1 , the T 13 increases due to (40), (41), (42), (43), and (44). Only when the estimate accuracy of d j (j = 2, 3) is improved by the nonlinear disturbance observers (17), (18), (19), (20), (21), (22), (23), and (24) can λ j be reduced and the accuracy of the state x 1 be also increased. In fact, the impact of the LOS angle error is satisfied with e q ≤ 2T 13 μ/q 1 due to the definition of the state x 1 ; that is, it is obtained from the relationship between the accuracy of the LOS angle error and the estimate error of nonlinear disturbances.…”

Section: It Is Obtained That Xmentioning

confidence: 99%

“…Meanwhile, it can be also obtained from the disturbance observers (17), (18), (19), (20), (21), (22), (23), and (24) that…”

Section: Control Design and Stability Analysismentioning

confidence: 99%

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New Integrated Guidance and Control of Homing Missiles with an Impact Angle against a Ground Target

Yang

Guo

Zhou

2018

International Journal of Aerospace Engineering

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A new integrated guidance and control (IGC) law is investigated for a homing missile with an impact angle against a ground target. Firstly, a control-oriented model with impact angle error of the IGC system in the pitch plane is formulated by linear coordinate transformation according to the motion kinematics and missile dynamics model. Secondly, an IGC law is proposed to satisfy the impact angle constraint and to improve the rapidity of the guidance and control system by combining the sliding mode control method and nonlinear extended disturbance observer technique. Thirdly, stability of the closed-loop guidance and control system is proven based on the Lyapunov stability theory, and the relationship between the accuracy of the impact angle and the estimate errors of nonlinear disturbances is derived from stability of the sliding mode. Finally, simulation results confirm that the proposed IGC law can improve the performance of the missile guidance and control system against a ground target.

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A novel sliding mode guidance law without line-of-sight angular rate information accounting for autopilot lag

Cited by 7 publications

References 40 publications

Integrated Strapdown Missile Guidance and Control With Field-of-View Constraint and Actuator Saturation

Integrated Strapdown Missile Guidance and Control With Field-of-View Constraint and Actuator Saturation

A non-overshooting controller for vehicle path following

New Integrated Guidance and Control of Homing Missiles with an Impact Angle against a Ground Target

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