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For the requirements of multi-missile salvo attack, a guidance law based on virtual leader and dynamic inversion is proposed in this article. The key idea of the law is to adopt a virtual leader for real missiles. This method can convert a guidance problem with time constraints to a nonlinear tracking problem. The missile is guided by a combination of the conventional PNG law and a maneuver control...
Discovering non-trivial matching subsequences from two time series is very useful in synthesizing novel time series. This can be applied to applications such as motion synthesis where smooth and natural motion sequences are often required to be generated from existing motion sequences. We first address this problem by defining it as a problem of l-epsiv-join over two time series. Given two time series,...
In this paper, a quadratic-programming (QP) based method is employed for cyclic motion generation (CMG) of redundant robot manipulators with joint physical limits considered. To demonstrate the effectiveness of such a QP-based CMG scheme, three types of multi-link planar arms are tested to perform square end-effector trajectories through computer simulations. Moreover, theoretical analysis based on...
In this paper, multiple types of performance indices (termed, an original one and its simple extensions) are investigated for online cyclic motion planning of redundant manipulators, which aims at remedying a so-called joint-angle-drift problem. In addition, physical constraints such as joint limits and joint velocity limits are taken into consideration in these related scheme-formulations, and these...
This paper presents a simplified primal-dual neural network based on linear variational inequalities (LVI) for online repetitive motion planning of PA10 robot manipulator. To do this, a drift-free criterion is exploited in the form of a quadratic function. In addition, the repetitive-motion-planning scheme could incorporate the joint limits and joint velocity limits simultaneously. Such a scheme is...
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