Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic character...Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.展开更多
This paper puts forward an unprecedented avoidance-striking-arrival problem aiming to address the need for tank's uncertain mechanical systems on the intelligent battlefield.The associated system uncertainties(pos...This paper puts forward an unprecedented avoidance-striking-arrival problem aiming to address the need for tank's uncertain mechanical systems on the intelligent battlefield.The associated system uncertainties(possibly rapid)are time-varying but bounded(possibly unknown).The goal is to design a controller that enables the tank to aim at and attack the enemy tank while keeping itself(out of the enemy fire zone).The tank maintains this condition until reaching the predefined region.In this paper,an approximate constraint following control method is adopted to solve this problem,and the original constraints are creatively divided into two categories:the avoidance-tracking constraint and the striking-arrival constraint.An adaptive robust control method is proposed and consequently verified through simulation experiments.It is proved that the system fully obeys the avoidance-tracking-constraint and strictly obeys the striking-arrival constraint under the control input.Besides,the control of the tank vehicle running system and tank gun bidirectional stabilization system are unified to deal with the control signal delay caused by complex uncertainties on the battlefield.Overall,this paper reduced the delay of signal transmission in the system while solved the avoidance-striking-arrival problem.展开更多
基金supported by Naval Weapons and Equipment Pre-Research Project(Grant No.3020801010105).
文摘Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.
基金This work was partially supported by the Provincial Natural Science Foundation of Jiangsu(Project no.BK20180474)the Natural Science Foundation of China(Project no.51805263,no.51705253,no.11572158).
文摘This paper puts forward an unprecedented avoidance-striking-arrival problem aiming to address the need for tank's uncertain mechanical systems on the intelligent battlefield.The associated system uncertainties(possibly rapid)are time-varying but bounded(possibly unknown).The goal is to design a controller that enables the tank to aim at and attack the enemy tank while keeping itself(out of the enemy fire zone).The tank maintains this condition until reaching the predefined region.In this paper,an approximate constraint following control method is adopted to solve this problem,and the original constraints are creatively divided into two categories:the avoidance-tracking constraint and the striking-arrival constraint.An adaptive robust control method is proposed and consequently verified through simulation experiments.It is proved that the system fully obeys the avoidance-tracking-constraint and strictly obeys the striking-arrival constraint under the control input.Besides,the control of the tank vehicle running system and tank gun bidirectional stabilization system are unified to deal with the control signal delay caused by complex uncertainties on the battlefield.Overall,this paper reduced the delay of signal transmission in the system while solved the avoidance-striking-arrival problem.
