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To intercept a maneuvering target in a two-dimensional plane, the inverse optimal guidance law based on zero effort miss (ZEM) and disturbance observer (DO) is studied in this paper. Firstly, the relative kinematics equation is simplified to obtain the missile-target ZEM and its dynamics. In order to enhance the robustness of the inverse optimal gu...
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A controller based on the curve tracking algorithm is offered as a solution to the issue of the wheeled mobile robot’s trajectory not be precisely monitored. First, Utilizing a planar global coordinate system, the kinematics and dynamics models of the wheeled mobile robot is created. Then, the kinematic model of the actual and predicted trajectorie...
Citations
... All of these are normal components contained in the horizontal plane and can be measured by the seeker of the interceptor. In a horizontal plane without air and gravity, the relative kinematical equations for the interceptor-target are given as [33] ...
... The kinematical equations for the interceptor are given as [33] ...
... In the same way, the kinematical equations of the target are given as [33] ...
In this paper, to make an interceptor intercept a maneuvering target, a parallel approaching guidance law is developed. In order to estimate the target maneuver more accurately and reduce its influence on the guidance accuracy, a distance-scalar disturbance observer is employed. Specifically, the estimation accuracy of the designed observer is not affected by the relative distance. Finite-time prescribed performance is employed to ensure that the line-of-sight angular rate is capable of converging to a predetermined small region within the specified finite time. All signals of the interception system can guarantee an ultimately uniformly boundedness, as proven by Lyapunov stability theory. Finally, the function of the parallel approaching guidance law is demonstrated using numerical simulation.
... The design of the disturbance observer based inverse optimal controllers uses the following two lemmas: Lemma 1 [40,41]. Consider a nonlinear affine system: ...
... is a positive definite Lyapunov candidate function for system (15), while the expression of function x h is: [41,42]. Consider a positive definite Lyapunov candidate function x V that fulfills the condition: ...
This work addresses the optimal control of carrier landing affected by deck motion and airwake disturbances. Starting from aircraft dynamics written under an affine form, a novel inverse optimal control approach is designed and then used as the main control technique to provide fast and accurate tracking of the aircraft reference trajectory, as well as to improve the convergence performances and the success rate of the automatic carrier landing. A robust automatic control landing system is proposed by designing a novel inverse optimal control algorithm based on disturbance observers (for the estimation and compensation of airwake), a deck motion compensation block, and fixed-time command filters for computing the reference signals and reducing the tracking errors. The proposed optimal scheme includes a guidance controller, an attitude controller (involving the control of the heading angle, attitude angles, and angular rates), and an approach power compensation system. The proposed architecture is proved to be globally stable by using the Lyapunov theory. Finally, the comparative simulation results prove both the reliability of the control scheme and the superiority of the novel inverse optimal control technique over other nonlinear control approaches employed in the design of automatic control landing systems.
