Pub Date : 2021-12-01DOI: 10.1142/s2737480721990016
{"title":"Author Index Volume 1 (2021)","authors":"","doi":"10.1142/s2737480721990016","DOIUrl":"https://doi.org/10.1142/s2737480721990016","url":null,"abstract":"","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"108 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75833809","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-01DOI: 10.1142/s2737480721400057
C. Chen, H. Liu
This paper develops a novel method to model the air flow downwash force generated by the quadrotor unmanned aerial vehicle (UAV) and its effect on the neighboring UAVs. Each UAV is shaped by a virtual structure for collision-free path planning. The shape is modified from a standard spherical body to a proposed adaptive cylinder to optimize the path planning while minimizing the downwash impact. The cylinder height varies based on the UAV circumstance and the predicted downwash impact. Furthermore, the downwash model can aid in the cylinder height extreme value appointment. A flock-based path planning algorithm is investigated in this study to compare the spherical UAV shape model with the proposed cylindrical UAV shape model. The UAV with the adaptive cylindrical model is simulated and verified via Gazebo and Robot Operating System (ROS) simulation platform.
{"title":"Adaptive Modeling for Downwash Effects in Multi-UAV Path Planning","authors":"C. Chen, H. Liu","doi":"10.1142/s2737480721400057","DOIUrl":"https://doi.org/10.1142/s2737480721400057","url":null,"abstract":"This paper develops a novel method to model the air flow downwash force generated by the quadrotor unmanned aerial vehicle (UAV) and its effect on the neighboring UAVs. Each UAV is shaped by a virtual structure for collision-free path planning. The shape is modified from a standard spherical body to a proposed adaptive cylinder to optimize the path planning while minimizing the downwash impact. The cylinder height varies based on the UAV circumstance and the predicted downwash impact. Furthermore, the downwash model can aid in the cylinder height extreme value appointment. A flock-based path planning algorithm is investigated in this study to compare the spherical UAV shape model with the proposed cylindrical UAV shape model. The UAV with the adaptive cylindrical model is simulated and verified via Gazebo and Robot Operating System (ROS) simulation platform.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"60 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76678036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-01DOI: 10.1142/s2737480721400021
Hao Liu, Deyuan Liu, M. Cheng
In this paper, the fault-tolerant attitude synchronization control problem for a team of heterogeneous minisatellites is addressed, subject to multiple actuator faults and uncertainties in the satellite dynamics. A fully distributed adaptive fault-tolerant controller, completely independently of the knowledge of the global information, is proposed to achieve the desired attitude synchronization. The attitude tracking error of the global closed-loop control system is proven to converge into a given neighborhood of the origin ultimately. Simulation results are given to validate the effectiveness and advantages of the proposed adaptive controller for the heterogeneous satellite formation flying team, against the influence of actuator faults and uncertainties.
{"title":"Fully Distributed Adaptive Fault-Tolerant Attitude Synchronization for a Team of Heterogenous Minisatellites","authors":"Hao Liu, Deyuan Liu, M. Cheng","doi":"10.1142/s2737480721400021","DOIUrl":"https://doi.org/10.1142/s2737480721400021","url":null,"abstract":"In this paper, the fault-tolerant attitude synchronization control problem for a team of heterogeneous minisatellites is addressed, subject to multiple actuator faults and uncertainties in the satellite dynamics. A fully distributed adaptive fault-tolerant controller, completely independently of the knowledge of the global information, is proposed to achieve the desired attitude synchronization. The attitude tracking error of the global closed-loop control system is proven to converge into a given neighborhood of the origin ultimately. Simulation results are given to validate the effectiveness and advantages of the proposed adaptive controller for the heterogeneous satellite formation flying team, against the influence of actuator faults and uncertainties.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"50 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90910073","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-01DOI: 10.1142/s2737480721020015
Youmin Zhang, D. Luo
{"title":"Editorial of Special Issue on UAV Autonomous, Intelligent and Safe Control","authors":"Youmin Zhang, D. Luo","doi":"10.1142/s2737480721020015","DOIUrl":"https://doi.org/10.1142/s2737480721020015","url":null,"abstract":"","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"28 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88608524","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-10-20DOI: 10.1142/S2737480722500212
Yuanhe Liu, Kebo Li, Yangang Liang, Jin Tang
In this paper, some new results on time-varying missile against a stationary target using pure proportional navigation (PPN) are developed in the planar interception problem. First, the relative motion equation is established in arc-length domain based on the differential geometry theory, which eliminates the influence of time-varying missile speed. Then, the closed-form solution of time-varying speed missile intercepting stationary target with PPN is deduced, and the interception performance is analyzed. Additionally, considering the missile maneuvering acceleration limit, the capture region of time-varying speed missile is analyzed. Finally, the results derived in this paper are verified by numerical simulation analysis for various scenarios.
{"title":"New Result on Interception of Stationary Targets at Arbitrary Time-Varying Speed","authors":"Yuanhe Liu, Kebo Li, Yangang Liang, Jin Tang","doi":"10.1142/S2737480722500212","DOIUrl":"https://doi.org/10.1142/S2737480722500212","url":null,"abstract":"In this paper, some new results on time-varying missile against a stationary target using pure proportional navigation (PPN) are developed in the planar interception problem. First, the relative motion equation is established in arc-length domain based on the differential geometry theory, which eliminates the influence of time-varying missile speed. Then, the closed-form solution of time-varying speed missile intercepting stationary target with PPN is deduced, and the interception performance is analyzed. Additionally, considering the missile maneuvering acceleration limit, the capture region of time-varying speed missile is analyzed. Finally, the results derived in this paper are verified by numerical simulation analysis for various scenarios.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"115 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77925882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-01DOI: 10.1142/s2737480721500151
Heyu Xu, Wenbo Li, Kebei Zhang, F. Fu
This paper aims to improve the autonomous operational capabilities of spacecraft. For a complex system with physical coupling and flexible attachments, an autonomous reconfiguration strategy based on reconfigurability evaluation is proposed. First, a quantitative evaluation index for reconfigurability is given based on operator theory to fully exploit the potential of system reconfigurability under resource constraints. Then, specific requirements and evaluation methods for autonomous reconfiguration are proposed in accordance with the results, thereby providing a theoretical reference for the design of reconfiguration strategy methods. Thus, reconfigurability is maximized from the design point of view. Finally, the validity and correctness of the method are verified by simulation.
{"title":"Autonomous Reconfiguration Strategy Based on Reconfigurability Evaluation","authors":"Heyu Xu, Wenbo Li, Kebei Zhang, F. Fu","doi":"10.1142/s2737480721500151","DOIUrl":"https://doi.org/10.1142/s2737480721500151","url":null,"abstract":"This paper aims to improve the autonomous operational capabilities of spacecraft. For a complex system with physical coupling and flexible attachments, an autonomous reconfiguration strategy based on reconfigurability evaluation is proposed. First, a quantitative evaluation index for reconfigurability is given based on operator theory to fully exploit the potential of system reconfigurability under resource constraints. Then, specific requirements and evaluation methods for autonomous reconfiguration are proposed in accordance with the results, thereby providing a theoretical reference for the design of reconfiguration strategy methods. Thus, reconfigurability is maximized from the design point of view. Finally, the validity and correctness of the method are verified by simulation.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"107 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79318705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-01DOI: 10.1142/s2737480721500175
Lubin Chang
This paper proposes an interlaced attitude estimation method for spacecraft using vector observations, which can simultaneously estimate the constant attitude at the very start and the attitude of the body frame relative to its initial state. The arbitrary initial attitude, described by constant attitude at the very start, is determined using quaternion estimator which requires no prior information. The multiplicative extended Kalman filter (EKF) is competent for estimating the attitude of the body frame relative to its initial state since the initial value of this attitude is exactly known. The simulation results show that the proposed algorithms could achieve better performance compared with the state-of-the-art algorithms even with extreme large initial errors. Meanwhile, the computational burden is also much less than that of the advanced nonlinear attitude estimators.
{"title":"Interlaced Attitude Estimation for Spacecraft Using Vector Observations","authors":"Lubin Chang","doi":"10.1142/s2737480721500175","DOIUrl":"https://doi.org/10.1142/s2737480721500175","url":null,"abstract":"This paper proposes an interlaced attitude estimation method for spacecraft using vector observations, which can simultaneously estimate the constant attitude at the very start and the attitude of the body frame relative to its initial state. The arbitrary initial attitude, described by constant attitude at the very start, is determined using quaternion estimator which requires no prior information. The multiplicative extended Kalman filter (EKF) is competent for estimating the attitude of the body frame relative to its initial state since the initial value of this attitude is exactly known. The simulation results show that the proposed algorithms could achieve better performance compared with the state-of-the-art algorithms even with extreme large initial errors. Meanwhile, the computational burden is also much less than that of the advanced nonlinear attitude estimators.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"19 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76837062","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-01DOI: 10.1142/s2737480721500126
G. Rigatos
The paper proposes a nonlinear optimal control approach for the model of the vertical take-off and landing (VTOL) aircraft. This aerial drone receives as control input a directed thrust, as well as forces acting on its wing tips. The latter forces are not perpendicular to the body axis of the drone but are tilted by a small angle. The dynamic model of the VTOL undergoes approximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model, an H-infinity feedback controller is designed. The linearization procedure relies on the computation of the Jacobian matrices of the state-space model of the VTOL aircraft. The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of the aerial drone, under model uncertainties and external perturbations. For the computation of the controller’s feedback gains, an algebraic Riccati equation is solved at each time-step of the control method. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the VTOL aircraft, under moderate variations of the control inputs. The stability properties of the control scheme are proven through Lyapunov analysis.
{"title":"A Nonlinear Optimal Control Approach for the Vertical Take-off and Landing Aircraft","authors":"G. Rigatos","doi":"10.1142/s2737480721500126","DOIUrl":"https://doi.org/10.1142/s2737480721500126","url":null,"abstract":"The paper proposes a nonlinear optimal control approach for the model of the vertical take-off and landing (VTOL) aircraft. This aerial drone receives as control input a directed thrust, as well as forces acting on its wing tips. The latter forces are not perpendicular to the body axis of the drone but are tilted by a small angle. The dynamic model of the VTOL undergoes approximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model, an H-infinity feedback controller is designed. The linearization procedure relies on the computation of the Jacobian matrices of the state-space model of the VTOL aircraft. The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of the aerial drone, under model uncertainties and external perturbations. For the computation of the controller’s feedback gains, an algebraic Riccati equation is solved at each time-step of the control method. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the VTOL aircraft, under moderate variations of the control inputs. The stability properties of the control scheme are proven through Lyapunov analysis.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"85 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86514127","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-01DOI: 10.1142/s2737480721500163
Xudong Li, Lizhen Wu, Yifeng Niu, Shengde Jia, Bosen Lin
In this paper, an algorithm for solving the multi-target correlation and co-location problem of aerial-ground heterogeneous system is investigated. Aiming at the multi-target correlation problem, the fusion algorithm of visual axis correlation method and improved topological similarity correlation method are adopted in view of large parallax and inconsistent scale between the aerial and ground perspectives. First, the visual axis was preprocessed by the threshold method, so that the sparse targets were initially associated. Then, the improved topological similarity method was used to further associate dense targets with the relative position characteristics between targets. The shortcoming of dense target similarity with small difference was optimized by the improved topological similarity method. For the problem of co-location, combined with the multi-target correlation algorithm in this paper, the triangulation positioning model was used to complete the co-location of multiple targets. In the experimental part, simulation experiments and flight experiments were designed to verify the effectiveness of the algorithm. Experimental results show that the proposed algorithm can effectively achieve multi-target correlation positioning, and that the positioning accuracy is obviously better than other positioning methods.
{"title":"Topological Similarity-Based Multi-Target Correlation Localization for Aerial-Ground Systems","authors":"Xudong Li, Lizhen Wu, Yifeng Niu, Shengde Jia, Bosen Lin","doi":"10.1142/s2737480721500163","DOIUrl":"https://doi.org/10.1142/s2737480721500163","url":null,"abstract":"In this paper, an algorithm for solving the multi-target correlation and co-location problem of aerial-ground heterogeneous system is investigated. Aiming at the multi-target correlation problem, the fusion algorithm of visual axis correlation method and improved topological similarity correlation method are adopted in view of large parallax and inconsistent scale between the aerial and ground perspectives. First, the visual axis was preprocessed by the threshold method, so that the sparse targets were initially associated. Then, the improved topological similarity method was used to further associate dense targets with the relative position characteristics between targets. The shortcoming of dense target similarity with small difference was optimized by the improved topological similarity method. For the problem of co-location, combined with the multi-target correlation algorithm in this paper, the triangulation positioning model was used to complete the co-location of multiple targets. In the experimental part, simulation experiments and flight experiments were designed to verify the effectiveness of the algorithm. Experimental results show that the proposed algorithm can effectively achieve multi-target correlation positioning, and that the positioning accuracy is obviously better than other positioning methods.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78716153","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-01DOI: 10.1142/s2737480721500138
A. Raza, F. Malik, Rameez Khan, N. Mazhar, Hameed Ullah, Nigar Ahmed
A nonlinear control technique for autonomous control of a tri-rotor unmanned aerial vehicle is presented in this paper. First, a comprehensive mathematical model is developed using the Newton–Euler approach for a tri-rotor, which is found to be highly nonlinear and coupled. Then, the equivalent input affine model is extracted by applying a suitable transformation. Finally, the sliding mode control for trajectory tracking is chosen which is immune to matched external disturbances, parametric uncertainties, and modeling errors. The proposed controller performance has been verified for appropriate inputs under wind disturbances using MATLAB, and the simulation results are presented.
{"title":"Sliding Mode Control-Based Autonomous Control of a Tri-rotor Unmanned Aerial Vehicle","authors":"A. Raza, F. Malik, Rameez Khan, N. Mazhar, Hameed Ullah, Nigar Ahmed","doi":"10.1142/s2737480721500138","DOIUrl":"https://doi.org/10.1142/s2737480721500138","url":null,"abstract":"A nonlinear control technique for autonomous control of a tri-rotor unmanned aerial vehicle is presented in this paper. First, a comprehensive mathematical model is developed using the Newton–Euler approach for a tri-rotor, which is found to be highly nonlinear and coupled. Then, the equivalent input affine model is extracted by applying a suitable transformation. Finally, the sliding mode control for trajectory tracking is chosen which is immune to matched external disturbances, parametric uncertainties, and modeling errors. The proposed controller performance has been verified for appropriate inputs under wind disturbances using MATLAB, and the simulation results are presented.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"40 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74154810","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：