Integrated Guidance and Control of Interceptor Missile Based on Asymmetric Barrier Lyapunov Function

Liu, Xiang; Liang, Xiaogeng

doi:10.1155/2019/8531584

Cited by 5 publications

(3 citation statements)

References 34 publications

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“…In the current design of complex system, numerous applications are combining standard control methods with software computational methods to make them more effective for the controller of such systems [17][18][19][20][21]. Some of the main control methods and evaluations for UAV are listed in Table 1, The cascade PID algorithm is used to establish proportional, integral and differential relationships between attitude information and propeller speed to achieve a fast dynamic response of the UAV by adjusting the parameter values of each link [22].…”

Section: Control Algorithm 31 Control Algorithmmentioning

confidence: 99%

Design of STM32-based Quadrotor UAV Control System

2023

KSII TIIS

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The four wing unmanned aerial vehicle owns the characteristics of small size, light weight, convenient operation and well stability. But it is easily disturbed by external environmental factors during flight with these disadvantages of short endurance and poor attitude solving ability. For solving these problems, a microprocessor based on STM32 chip is designed and the overall development is completed by the resources such as built-in timer and multi-function mode general-purpose input/output provided by the master micro controller unit, together with radio receiver, attitude meter, barometer, electronic speed control and other devices. The unmanned aerial vehicle can be remotely controlled and send radio waves to its corresponding receiver, control the analog level change of its corresponding channel pins. The master control chip can analyze and process the data to send multiple sets pulse signals of pulse width modulation to each electronic speed control. Then the electronic speed control will transform different pulse signals into different sizes of current value to drive the motor located in each direction of the frame to generate different rotational speed and generate lift force. To control the body of the unmanned aerial vehicle, so as to achieve the operator's requirements for attitude control, the PID controller based on Kalman filter is used to achieve quick response time and control accuracy. Test results show that the design is feasible.

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Section: Control Algorithm 31 Control Algorithmmentioning

confidence: 99%

Design of STM32-based Quadrotor UAV Control System

2023

KSII TIIS

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“…In [36], the ISMC was adopted and the constraints on system state were considered. The control methods combining SMC with BC can be found in [37,38]. Besides, the comprehensive control algorithms, such as combining fuzzy control with BC [39] and MPC based on barrier Lyapunov function [40] are both known as effective state-constrained control methods.…”

Section: Introductionmentioning

confidence: 99%

Water Surface Flight Control of a Cross Domain Robot Based on an Adaptive and Robust Sliding Mode Barrier Control Algorithm

et al. 2022

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When a cross-domain robot (CDR) flies on the water surface, the large pitch angle and roll angle may lead to water flooding into the robot cabin or even overturning. In addition, the CDR is influenced by some uncertain parameters and external disturbances, such as the water resistance and current. To constrain the robot attitude angle and improve the robustness of the controller, a non-singular terminal sliding mode asymmetric barrier control (NTSMABC) algorithm is proposed. All the uncertain disturbances are regarded as a lump disturbance, and a radial basis function neural network (RBFNN) is designed to compensate for the output of the controllers. Unlike the traditional quadrotors, the robot controls the yaw angle by paddles when the robot flies on the water surface. To prevent the actuator saturation and the robot from rolling over due to excessive yaw angular velocity, an adaptive integral sliding mode barrier control (AISMBC) algorithm is proposed to constrain the yaw angular velocity directly. This algorithm adaptively adjusts the gain of the sliding surface to suppress the influence of the lump disturbance on the robot. Another RBFNN is designed to compensate for the output of the controller. Simulation results demonstrate the effectiveness of the proposed control methods.

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“…Very few papers based on ABLF backstepping 19 are used for land vehicle applications, and this method has also been applied to many applications, for example, in the marine vessel, 20 and Inceptor missile. 21 Although the handling of asymmetric output constraints is possible using this method, it cannot deal with the time-varying constraints. Recently, to achieve the time-varying constraints, the TABLF-based backstepping method is proposed in Tee et al, 22 and these constraints are considered, for example, in collision avoidance applications with road boundaries, where these boundaries are varied with respect to the road length.…”

Section: Introductionmentioning

confidence: 99%

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

Parkash

Swarup

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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In a surface vehicle ride, the passenger’s comfort is desirable, ensuring safety under various tight constraints. To consider this requirement, this article has proposed a lateral control for autonomous vehicle considering the lateral offset error constraints. A reduced-order dynamics of the vehicle has been considered for improving and easy implementation of backstepping. A nonlinear control has been developed by utilizing the Time-varying Asymmetric Barrier Lyapunov Function via the Active Disturbance Rejection Control (ADRC) approach. The Extended State Observer, a component of applied ADRC, estimates all unknown system states as well as the unknown disturbance. The desired trajectories (smooth and non-smooth) based on the yaw rate profile have been synthesized to test the performance of the vehicle. Simulation results are presented to show the effectiveness of the proposed closed-loop control strategy. The vehicle performance has been compared using the proposed method, the conventional Quadratic Lyapunov Function and Symmetric Barrier Lyapunov Function based control. The proposed control provides a smoother control signal, small tracking error and robustness in presence of hard road constraints for smooth/non-smooth vehicle motion.

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Integrated Guidance and Control of Interceptor Missile Based on Asymmetric Barrier Lyapunov Function

Cited by 5 publications

References 34 publications

Design of STM32-based Quadrotor UAV Control System

Design of STM32-based Quadrotor UAV Control System

Water Surface Flight Control of a Cross Domain Robot Based on an Adaptive and Robust Sliding Mode Barrier Control Algorithm

Development of autonomous vehicle lateral control using time-varying asymmetric barrier Lyapunov function via ADRC approach

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