CN109101035A - A method of planar trajectory control is indulged for high-altitude gliding UUV - Google Patents
A method of planar trajectory control is indulged for high-altitude gliding UUV Download PDFInfo
- Publication number
- CN109101035A CN109101035A CN201811070748.3A CN201811070748A CN109101035A CN 109101035 A CN109101035 A CN 109101035A CN 201811070748 A CN201811070748 A CN 201811070748A CN 109101035 A CN109101035 A CN 109101035A
- Authority
- CN
- China
- Prior art keywords
- uuv
- gliding
- factor
- indicate
- optimization problem
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000005457 optimization Methods 0.000 claims abstract description 28
- 238000005096 rolling process Methods 0.000 claims abstract description 12
- 230000005484 gravity Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention proposes a kind of method for indulging planar trajectory control for high-altitude gliding UUV, it is based primarily upon rolling time horizon optimization algorithm principle, planar trajectory control is indulged for high-altitude gliding UUV to require, constrained optimization problem in line solver finite time-domain is passed through using rolling time horizon optimization algorithm, obtain local optimum control instruction of the gliding UUV within following a period of time, realize that gliding UUV meets desired system speed when reaching specified parachute-opening region, simultaneously the control method can real-time response ambient enviroment gliding UUV caused by disturb, ensure that system is run with acceptable precision.
Description
Technical field
The present invention relates to UUV control technology field, specially a kind of side that planar trajectory control is indulged for high-altitude gliding UUV
Method carries out trajectory control based on rolling time horizon optimization.
Background technique
The fast development of UAV navigation (Unmanned Underwater Vehicle, UUV) significantly enhances
Detection, development and utilization of the mankind to ocean.Since the surrounding enviroment of Partial Sea Area are severe, surface vessel is not allowed to carry out low coverage
It is laid from UUV, therefore, researcher proposes the concept of high-altitude gliding UUV.Fig. 1 is the schematic diagram of high-altitude gliding UUV.
High-altitude gliding UUV combines high-altitude glide vehicle technology and UAV navigation technology.The equipment can lead to
It crosses aircraft and carries out high-altitude dispensing, the flight instruments carried by itself do no motive force and glide.Subtract arriving at scheduled parachute-opening
When fast region, gliding UUV will open drag parachute, so that it is entered water operation with safe speed, if digging water speed is too fast to will lead to UUV
This bulk damage is even damaged, and mission failure is caused.And since the initial dispensing speed of gliding UUV is very big, it is very high to launch height above sea level, because
This needs a set of rationally effective trajectory control method, enables gliding UUV when reaching presumptive area, speed is reduced to safety
Value is following.Horizontal according to existing application background and air-drop, gliding UUV is mostly launched in the height above sea level of 4000-5000m, initially
Speed is in 200-300m/s, and it is expected that the parachute-opening deceleration when height above sea level, the speed of 1000m are decreased to 100m/s.
In existing trajectory control method, proportional navigation method is one of method of comparative maturity.This method principle is simple,
It is easily achieved, without the concern for system model, is widely used in the fields such as missile intercept.With the expansion of application surface, scientific research people
Member devises the methods of improved PID proportional guidance, modified proportional guidance again.But these methods are all not easy to consider to system speed
The requirement of degree is also just unable to control gliding UUV and meets desired system speed when reaching designated position.
Optimal guidance method is also common trajectory control method in a kind of engineering.Given system model, original state and
After the SOT state of termination, this method can generate the control instruction of global optimum under the premise of meeting polynomial system constraint.But it is sliding
The operational process of Xiang UUV is the dynamic process of a high maneuverability, it is clear that it is not possible that appointing system accurate before dispensing is initial
State.And gliding UUV will receive a variety of disturbances from ambient enviroment at runtime, and optimal guidance method is unable to real time modifying control
System instruction, so that the running precision of system substantially reduces.
Summary of the invention
Rolling time horizon optimization algorithm will obtain system in future by the constrained optimization problem in line solver finite time-domain
Local optimum control instruction in a period of time.This method originate from industrial stokehold problem, now have been supplied in motion planning,
The numerous areas such as track following.The present invention in order to solve the problems existing in the prior art, is based on rolling time horizon optimization algorithm principle, needle
Planar trajectory control is indulged to high-altitude gliding UUV to require, and proposes a kind of method for indulging planar trajectory control for high-altitude gliding UUV,
It can be realized gliding UUV and meet desired system speed when reaching specified parachute-opening region, while the control method can be real
When response ambient enviroment gliding UUV caused by disturb, it is ensured that system is run with acceptable precision.
The technical solution of the present invention is as follows:
A kind of method for indulging planar trajectory control for high-altitude gliding UUV, it is characterised in that: the following steps are included:
Step 1: gliding UUV is established in the motion model of vertical plane:
Wherein δeIt is the control instruction of system for the diving-plane angle for the UUV that glides；M is the quality of gliding UUV, and g adds for gravity
Speed, S are the maximum cross-section area of gliding UUV, and ρ is the density of air；Cx0For zero lift drag factor,For drag due to lift because
Number, Cy0For zero lift factor,For angle of attack lift factor,For horizontal tail lift factor, mαFor pitching moment factor,Table
Show horizontal tail torque factor；(x, y) is gliding UUV ontology mass center OBCoordinate in earth axes；V is the speed of gliding UUV；
θ is the pitch angle of gliding UUV, and α is the angle of attack of gliding UUV；
Step 2: after gliding UUV is launched, being passed through in line solver finite time-domain using rolling time horizon optimization algorithm
Constrained optimization problem obtains local optimum control instruction of the gliding UUV in following a period of time T
Step 2.1: the gliding UUV system mode η (t) under current time t is acquired by sensor,
η (t)=[x (t) y (t) v (t) θ (t)]T
Step 2.2: in [t, t+T] time domain, the optimizing index of solving optimization problem under constraint condition obtains part most
Excellent control instruction
Wherein the optimizing index of optimization problem is
J () is the cost function of optimization problem, and concrete form is
Wherein Δ x (t)=x (t)-xd(t), Δ y (t)=y (t)-yd(t), Δ v (t)=v (t)-vd(t), xd(t)、yd
(t) the expectation parachute-opening position of gliding UUV, v are indicatedd(t) the expectation opening speed of gliding UUV is indicated；r1、r2、r3Indicate weighting system
Number；
The constraint condition of optimization problem are as follows:
η (0)=η0
v(t)∈[vmin,vmax]
δe∈[-δem,δem]
WhereinIndicate that gliding UUV meets the motion model requirement of step 1 foundation；η (0)=η0Table
The original state for showing gliding UUV is η0；v(t)∈[vmin,vmax] indicate gliding UUV constraint of velocity, [vmin,vmax] according to
The permissible velocity range that the job requirement of UUV parachute deployment means of gliding determines；δe∈[-δem,δem] indicate the tail vane of gliding UUV by machine
The limitation of tool structure and have rudder angle constraint；
Step 2.3:, will in τ ∈ [t, t+ δ]It is applied to gliding UUV, and 0 < δ < T；
Step 2.4: at the t+ δ moment, the UUV that glides is measured to new system mode, step 2.1-2.3 is repeated, until meeting
The termination condition of setting.
Further preferred embodiment, a kind of method for indulging planar trajectory control for high-altitude gliding UUV, feature exist
In: weighting coefficient r1=1 × 10-2/ | Δ v (t) |, r2=1/ | Δ v (t) |, r3The unit of=1, Δ v (t) are m/s.
Beneficial effect
The present invention can be realized gliding UUV and meet desired system speed when reaching specified parachute-opening region, simultaneously should
Control method can real-time response ambient enviroment gliding UUV caused by disturb, it is ensured that system is run with acceptable precision.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1: the schematic diagram of high-altitude gliding UUV.
Fig. 2: coordinate system definition.
Fig. 3: the track for the UUV that glides in embodiment.
Fig. 4: the rate curve for the UUV that glides in embodiment.
Fig. 5: the rudder angle curve for the UUV that glides in embodiment.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
Coordinate system definition relevant to control method designed by the present invention is referring to fig. 2.It defines earth axes { E },
Origin OEPositioned at horizontal plane somewhere, XEAlong the horizontal plane, YEStraight up.It defines body coordinate system { B }, origin OBPositioned at UUV ontology
Mass center, XBHead, Y are directed toward along UUV main shaftBPerpendicular to XBUpwards.Define OBCoordinate in earth axes is (x, y).It is fixed
The speed of adopted UUV is v.The pitching angle theta for defining UUV is XBWith XEAngle, and from XBX is gone to counterclockwiseEIt is positive.Define UUV's
Angle of attack is v and XBAngle, and go to X counterclockwise from vBIt is positive.
Under " equilibrium,transient " hypothesis, gliding UUV is as follows in the motion model of vertical plane
Wherein, δeIndicate the diving-plane angle of UUV namely the control instruction of the system.M indicates the quality of gliding UUV, g table
Show that acceleration of gravity, S indicate that the maximum cross-section area of gliding UUV, ρ indicate the density of air.Cx0Indicate zero lift drag factor,Indicate drag due to lift factor, Cy0Indicate zero lift factor,Indicate angle of attack lift factor,Indicate horizontal tail lift factor, mαIndicate pitching moment factor,Indicate horizontal tail torque factor.The above parameter is different because of used system difference, reference can be made to tool
The parameter handbook of system system, using shown in table 1 in the present embodiment.
The partial system parameters of certain model of table 1 gliding UUV
Rolling time horizon optimization algorithm will obtain system in future by the constrained optimization problem in line solver finite time-domain
Local optimum control instruction in a period of time.
The system mode of definition gliding UUV is η (t)=[x (t) y (t) v (t) θ (t)]T.Define Δ x (t)=x (t)-
xd(t), Δ y (t)=y (t)-yd(t), Δ v (t)=v (t)-vdIt (t) is system mode error, wherein xd(t)、yd(t)、vd(t)
The expectation parachute-opening position of expression gliding UUV and desired opening speed.For the trajectory control of gliding UUV, design optimization problem
As follows.
η (0)=η0 (8)
v(t)∈[vmin,vmax] (9)
δe∈[-δem,δem] (10)
Formula (6) indicates that optimizing index, J () are known as the cost function of optimization problem, the concrete form in its present invention
For
Wherein, T > 0 indicates the prediction time domain of rolling time horizon optimization algorithm, r1> 0, r2> 0, r3> 0 indicates weighting coefficient.
By designing the cost function of such form, rolling time horizon algorithm will consider that status requirement and speed are wanted simultaneously in solution procedure
It asks, driving gliding UUV reaches specified parachute-opening region with desired speed as far as possible.
Formula (7)-formula (10) indicates the constraint condition in the optimization problem.Formula (7) indicates system model namely formula (1)-
Formula (4), the evolution of system mode will follow the requirement of system model.Formula (8) indicates that the original state of gliding UUV is η0.Formula (9)
The constraint of velocity of expression system, the predominantly job requirement of parachute deployment means, it is safe and reliable for operational process, glide UUV's
Speed should be in certain safe range.It is limited by mechanical structure, the tail vane for the UUV that glides can only be within the scope of certain angle
Work, formula (10) describe the constraint to rudder angle.
It is assumed that every δ (the 0 < δ < T) time, gliding UUV can be measured by sensor to itself shape at least once
State.So, the gliding UUV trajectory control based on rolling time horizon optimization will resolve as follows.
1. acquiring the system mode at current time by sensor
2. obtaining the control instruction of local optimum by the solving optimization problem (6) in [t, t+T] time domain
3., will in τ ∈ [t, t+ δ]It is applied to gliding UUV.
4. gliding UUV is measured to new system mode at the t+ δ moment, step 1-3 is repeated, the termination until meeting setting
Condition.
By above step it is found that the gliding UUV trajectory control based on rolling time horizon optimization is one and iteratively solves online
Process.When system is disturbed by ring, the sensor measurement information of subsequent time will reflect this interference, and control algolithm can be real
When calculate new control instruction to compensate external disturbance, make glide UUV run with acceptable precision.
According to the gliding UUV model specifically used in the present embodiment, formula (1)-formula (5) are obtained by query argument handbook
In each system parameter value.For example, the relevant parameter of certain model gliding UUV is as shown in table 1.The model of the system is as follows
(will be in formula (5) substitution formula (1), formula (2)).
Setting gliding UUV is launched from (0, the 4000) coordinate points of earth axes, initial velocity 250m/s, initial pitch angle
0 ° namely η0=[0 4,000 250 0]T.The constraint of velocity of gliding UUV is set as v (t) ∈ [0,300].Setting gliding UUV's
Rudder angle is constrained to δe∈[-0.5,0.5].The expectation parachute-opening position (x of setting gliding UUVd,yd)=(20000,1000), it is expected that speed
Spend vd=90.Each weighting coefficient is set as r in formula (11)1=1 × 10-2/|Δv(t)|、r2=1/ | Δ v (t) |, r3=1.For
To the compensation ability of external disturbance, environmental perturbation is equivalent to glide the trajectory control method designed in the verifying present invention by we
The rudder angle deviation of UUV, by instructing upper 0.1 δ of superimposed noise in rudder anglee(t) d (t) simulates external disturbance, wherein d (t)~N
(0,1).The termination condition of solution is set as y (t) < yd, that is, just stop solving when gliding UUV is less than desired opening altitude,
Prepare parachute-opening to slow down.
The simulation result of the present embodiment is referring to Fig. 3-Fig. 5.As seen from the figure, gliding UUV reaches specified open after running 112s
Umbrella region, coordinate when parachute-opening are (19950,999.7).Compared to desired parachute-opening position, absolute position error is (50,0.3), phase
It is (0.25%, 0.01%) to location error.Speed when parachute-opening is 91.65m/s, compares desired opening speed, absolute velocity
Error is 1.65m/s, and relative velocity error is 1.83%.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (2)
1. a kind of method for indulging planar trajectory control for high-altitude gliding UUV, it is characterised in that: the following steps are included:
Step 1: gliding UUV is established in the motion model of vertical plane:
Wherein δeIt is the control instruction of system for the diving-plane angle for the UUV that glides；M is the quality of gliding UUV, and g is acceleration of gravity,
S is the maximum cross-section area of gliding UUV, and ρ is the density of air；Cx0For zero lift drag factor,For drag due to lift factor, Cy0
For zero lift factor,For angle of attack lift factor,For horizontal tail lift factor, mαFor pitching moment factor,Indicate horizontal tail
Torque factor；(x, y) is gliding UUV ontology mass center OBCoordinate in earth axes；V is the speed of gliding UUV；θ is to slide
The pitch angle of Xiang UUV, α are the angle of attack of gliding UUV；
Step 2: after gliding UUV is launched, using rolling time horizon optimization algorithm by line solver finite time-domain by about
Beam optimization problem obtains local optimum control instruction of the gliding UUV in following a period of time T
Step 2.1: the gliding UUV system mode η (t) under current time t is acquired by sensor,
η (t)=[x (t) y (t) v (t) θ (t)]T
Step 2.2: in [t, t+T] time domain, the optimizing index of solving optimization problem, obtains local optimum under constraint condition
Control instruction
Wherein the optimizing index of optimization problem is
J () is the cost function of optimization problem, and concrete form is
Wherein Δ x (t)=x (t)-xd(t), Δ y (t)=y (t)-yd(t), Δ v (t)=v (t)-vd(t), xd(t)、yd(t) table
Show the expectation parachute-opening position of gliding UUV, vd(t) the expectation opening speed of gliding UUV is indicated；r1、r2、r3Indicate weighting coefficient；
The constraint condition of optimization problem are as follows:
η (0)=η0
v(t)∈[vmin,vmax]
δe∈[-δem,δem]
WhereinIndicate that gliding UUV meets the motion model requirement of step 1 foundation；η (0)=η0It indicates to slide
The original state of Xiang UUV is η0；v(t)∈[vmin,vmax] indicate gliding UUV constraint of velocity, [vmin,vmax] it is according to gliding
The permissible velocity range that the job requirement of UUV parachute deployment means determines；δe∈[-δem,δem] indicate that the tail vane of gliding UUV is tied by machinery
The limitation of structure and have rudder angle constraint；
Step 2.3:, will in τ ∈ [t, t+ δ]It is applied to gliding UUV, and 0 < δ < T；
Step 2.4: at the t+ δ moment, the UUV that glides is measured to new system mode, is repeated step 2.1-2.3, is set until meeting
Termination condition.
2. a kind of method for indulging planar trajectory control for high-altitude gliding UUV according to claim 1, it is characterised in that: add
Weight coefficient r1=1 × 10-2/ | Δ v (t) |, r2=1/ | Δ v (t) |, r3The unit of=1, Δ v (t) are m/s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811070748.3A CN109101035B (en) | 2018-09-13 | 2018-09-13 | Method for controlling vertical plane trajectory of UUV in high-altitude gliding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811070748.3A CN109101035B (en) | 2018-09-13 | 2018-09-13 | Method for controlling vertical plane trajectory of UUV in high-altitude gliding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109101035A true CN109101035A (en) | 2018-12-28 |
| CN109101035B CN109101035B (en) | 2021-06-11 |
Family
ID=64866234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811070748.3A Active CN109101035B (en) | 2018-09-13 | 2018-09-13 | Method for controlling vertical plane trajectory of UUV in high-altitude gliding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109101035B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112558465A (en) * | 2020-12-03 | 2021-03-26 | 大连海事大学 | Unknown unmanned ship finite time reinforcement learning control method with input limitation |
| CN114660932A (en) * | 2022-01-20 | 2022-06-24 | 北京理工大学 | Missile agile turning optimal control method containing speed reducing parachute |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390543A (en) * | 2011-08-23 | 2012-03-28 | 北京航空航天大学 | Vertical landing track design method for unmanned aerial vehicle |
| CN105005313A (en) * | 2015-07-21 | 2015-10-28 | 北京理工大学 | Martian atmosphere entry stage prediction guidance method based on path point planning |
| CN105222648A (en) * | 2015-09-11 | 2016-01-06 | 北京航空航天大学 | A kind of linear pseudo-spectrum broad sense mark control miss distance Guidance and control method |
| CN106294280A (en) * | 2016-08-22 | 2017-01-04 | 麻毅威 | A kind of trajectory planning method |
| CN107202584A (en) * | 2017-07-06 | 2017-09-26 | 北京理工大学 | A kind of planet precision landing anti-interference method of guidance |
-
2018
- 2018-09-13 CN CN201811070748.3A patent/CN109101035B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390543A (en) * | 2011-08-23 | 2012-03-28 | 北京航空航天大学 | Vertical landing track design method for unmanned aerial vehicle |
| CN105005313A (en) * | 2015-07-21 | 2015-10-28 | 北京理工大学 | Martian atmosphere entry stage prediction guidance method based on path point planning |
| CN105222648A (en) * | 2015-09-11 | 2016-01-06 | 北京航空航天大学 | A kind of linear pseudo-spectrum broad sense mark control miss distance Guidance and control method |
| CN106294280A (en) * | 2016-08-22 | 2017-01-04 | 麻毅威 | A kind of trajectory planning method |
| CN107202584A (en) * | 2017-07-06 | 2017-09-26 | 北京理工大学 | A kind of planet precision landing anti-interference method of guidance |
Non-Patent Citations (5)
| Title |
|---|
| JOHN BELLINGHAM ET AL.: "Receding horizon control of autonomous aerial vehicles", 《PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE 》 * |
| XI-HUI YAN ET AL.: "Moving Horizon Optimization of Dynamic Trajectory Planning for High-Speed Train Operation", 《IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS》 * |
| ZHILEI GE ET AL.: "Segmented Optimal Design of Ballistic Trajectory of Gliding Extended Range Projectile Subjected to Multiple Constraints", 《2017 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION SCIENCES》 * |
| 丁力军 等: "滑翔式空中靶标总体设计与弹道仿真", 《海军航空工程学院学报》 * |
| 张天慈 等: "基于区域控制的航空器滑行轨迹优化模型", 《系统工程与电子技术》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112558465A (en) * | 2020-12-03 | 2021-03-26 | 大连海事大学 | Unknown unmanned ship finite time reinforcement learning control method with input limitation |
| CN114660932A (en) * | 2022-01-20 | 2022-06-24 | 北京理工大学 | Missile agile turning optimal control method containing speed reducing parachute |
| CN114660932B (en) * | 2022-01-20 | 2023-09-12 | 北京理工大学 | Missile agile turning optimal control method comprising drogue |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109101035B (en) | 2021-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhen et al. | Adaptive super-twisting control for automatic carrier landing of aircraft | |
| Leonard et al. | Model-based feedback control of autonomous underwater gliders | |
| CN104484717B (en) | A kind of airborne Trajectory Prediction method based on current air route | |
| Hervas et al. | Nonlinear control of fixed-wing UAVs in presence of stochastic winds | |
| CN107563044B (en) | Four-rotor unmanned aerial vehicle path tracking control method based on online safety learning | |
| CN104199303B (en) | Stratospheric satellite planar path tracking control method based on vector field guidance | |
| CN108873929A (en) | A kind of fixed wing aircraft autonomous landing on the ship method and system | |
| Liu et al. | Robust model predictive control for stratospheric airships using LPV design | |
| Guibin et al. | Cooperative formation control of multiple aerial vehicles based on guidance route in a complex task environment | |
| Koo et al. | Improvement of shipboard landing performance of fixed-wing UAV using model predictive control | |
| Malaek et al. | Dynamic based cost functions for TF/TA flights | |
| CN109101035A (en) | A method of planar trajectory control is indulged for high-altitude gliding UUV | |
| CN107957686B (en) | Unmanned helicopter auto landing on deck control system based on prediction control | |
| CN108279562A (en) | A kind of flight mechanical arm based on sliding formwork PID control | |
| Lungu et al. | Inverse optimal control for autonomous carrier landing with disturbances | |
| Hahn | Coping with wake vortex | |
| Miyazawa et al. | Longitudinal landing control law for an autonomous reentry vehicle | |
| Saghafi et al. | Autonomous unmanned helicopter landing system design for safe touchdown on 6DOF moving platform | |
| Shue et al. | Mixed H/H8 method suitable for gain scheduled aircraft control | |
| Ranneberg | Sensor setups for state and wind estimation for airborne wind energy converters | |
| Ngo | Constrained control for helicopter shipboard operations and moored ocean current turbine flight control | |
| Wu et al. | Docking control of autonomous aerial refueling for UAV based on LQR | |
| Durmaz | Robust flight and landing autopilot | |
| Semakov et al. | Thrust Control for Aircraft Landing on a Carrier | |
| Kampoon | Wind field estimation and its utilization in trajectory and input prediction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |