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A pursuer UAV tracking and loitering around a target is the problemanalyzed in this work. The UAV is assumed to be a fixed-wing vehicle and constant airspeed together with bounded lateral accelerations are the main constraints of the problem. The pursuer motion control law proposed in this paper is based on the definition of an oscillatory motion created by a center of oscillation: it allows the pursuer...
Motivated primarily by the problem of UAV coordination, in this paper we address the problem of coordination of a non-homogeneous group of non-holonomic agents with input constraints. In the first part of the paper, we develop a modeling framework for heterogeneous multi-agent systems that is based on timed automata. To this extent, an appropriate abstraction of the agents' workspace from our previous...
According to the characteristics of cruise torpedo horizontal motion, torpedo equation of motion in use is simplified and the linearized model of horizontal motion is established. Combine the strategy of a small AUV trajectory tracking, guidance law and controller based on sliding model control for the cruise torpedo horizontal path tracking is designed. Matlab simulation is made according to the...
This paper presents a nonlinear input-state feedback linearization controller for tracking trajectory on horizontal plane with the rudder of an unmanned underwater vehicle (UUV). UUV system is strongly nonlinear, but the model is often simplified into linearization under some strict assumptions in some traditional linear control methods for the need of the control laws, and the linearization may induce...
This paper focuses on a critical component of the situational awareness, the control of autonomous vertical flight for an unmanned aerial vehicle. Autonomous vertical flight is a challenging but important task for tactical unmanned aerial vehicles to achieve high level of autonomy under adverse conditions. With the situational awareness strategy, we proposed a two stage flight control procedure using...
This paper focuses on a critical component of the situational awareness (SA), the neural control of depth flight of an autonomous underwater vehicle (AUV). Constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. The fundamental requirement for constant depth flight is the knowledge of the depth, and a properly designed controller...
This paper focuses on a critical component of the situational awareness, the control of autonomous vertical flight for an unmanned aerial vehicle. Autonomous vertical flight is a challenging but important task for tactical unmanned aerial vehicles to achieve high level of autonomy under adverse conditions. With the situational awareness strategy, we proposed a three stage flight control procedure...
The linear quadratic regulator for the underwater glider is designed, and the motion path of the feedback control system in ocean vertical plane is studied. First, changes of the trajectory path when the glider is in steady moving are tested in this paper. Then, according to the fact that the glider needs sharp turning, two kinds of control strategies are studied. From the contrastive analysis, we...
According to the design requirement of UAV (the unmanned aircraft vehicle), the models of threat, UAV's dynamics, guidance and trajectory planning are established. Trajectory planning adopts genetic algorithms (GAs) and genetic coding uses "distance, corner" program. Through simulating by Matlab/Simlink software, the result proves the trajectory planning according with dynamics, characteristic.
This paper focuses on a critical component of the situational awareness (SA), the neural control of depth flight of an autonomous underwater vehicle (AUV). Constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. The fundamental requirement for constant depth flight is the knowledge of the depth, and a properly designed controller...
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