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No restrictions are imposed on the motion states of missile and target and the line of sight rotation coordinate system is introduced into the derivation of differential geometric guidance law. Then, the extended differential geometric guidance law is achieved whose scope of application is largely extended. In order to realize the derived law, instead of the complex computation of torsion command,...
This paper puts forward the iterative learning control (ILC) function for the existing CNC systems, aiming at the large number of actual need of single-piece repetitive processing tasks. The previous processing error is superimposed on the next processing, with use of the last processing of the control, and gradually improves the processing accuracy, thereby improving the product yield. In the iterative...
In this paper, a control system architecture for control of non-affine in control, open-loop unstable underactuated system is discussed. Passivization of the unactuated (internal) system dynamics achieved through perturbation of trajectories of the actuated states, which are calculated through adaptive dynamic inversion technique, based on Tikhonov's theorem. Performance of the controller is shown...
Autonomous Underwater Vehicle (AUV) is referred as a promising device to extend human intelligences to harsh underwater environment. Most applications of AUV demand accurate trajectory tracking, however the nonlinear and model inaccuracy constraints on AUV make it challenging to achieve tracking task. In this paper, we are concerned with the trajectory tracking problem for AUV. The AUV is assumed...
This paper proposes a general framework to establish the dynamic movement primitives library (DMPL) for a mobile robot path planning in unknown environment. Based on DMPL, the mobile robot can autonomously compute a smooth path from the initial position to the target points while avoiding any existed obstacles. Path planning based on DMPL consists of two phases, the library building and its application...
Constant-Power Load (CPL) introduces destabilizing effect to dc-dc converters, which may lead to voltage oscillation or collapse. To mitigate the destabilizing problem brought by CPL, a nonlinear boundary controller is proposed in this paper, which has a nonlinear switching line. The converters' dynamics on the state space plane is analyzed through phase portrait. The proposed controller is verified...
One of the most challenging problems in aerospace engineering is the analysis of the separation trajectories by which a missile ejected from an aircraft. The attitudes of some static unstable missile are divergent quickly due to aerodynamic interference by the aircraft. Therefore, it is disadvantageous to missile's separation from aircraft safely. The attitude control strategy must be applied to avoid...
This paper presents a non-geometric method for solving the inverse kinematics of a ship motion simulation system having Delta structure as shown in Fig. 1, and then investigated the problem of path tracking control generally. As the complexity of the joint structure of this system, obtaining the inverse kinematics is difficult and computationally expensive and traditional methods such as geometric,...
Entry guidance of a high-lifting vehicle is a complex problem that has attracted the attention of researchers around the world for many years. This paper classifies the previous studies into two categories: trajectory planning-tracking method (TPTM) and predictor-corrector method (PCM). A new trajectory planning method based on the dynamic pressure profile of the vehicle is proposed in this paper...
A method based on variable horizon predictive control is proposed in the paper for nominal trajectory guidance. Firstly, a feasible reference trajectory is generated by the Gauss pseudospectral method. Then, curvature is employed to represent the smoothness of obtained trajectory and predictive horizon is selected according to the curvature. Different predictive control optimal problems are established...
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process,...
The trajectory optimization with dynamic headway for high-speed trains plays an important role in railway operations with the increasing passenger flow. Safety, punctuality, energy saving and comfort are some of the most crucial objectives that are considered in train tracking process in this paper. Primarily, the multi-objective optimization model of tracking train trajectory planning is built under...
Neural network is a kind of machine learning algorithm, applied in many ways. The traditional predictive guidance of aerocraft is hard to resolve the contradiction among robustness, real-time and the guidance of precision. The paper provides a predictive guidance algorithm for aerocraft, by combining neural network with predictive guidance to solve this problem. This research about the new style guidance...
In order to intercept against the fixed, uniform and maneuvering target with a certain impact angle accurately, a circular navigation guidance method based on sliding mode control is proposed in this paper. According to the geometrical analysis of the circular trajectory in a two-dimensional plane, the conclusion that only if impact angle is given, two of any points on the guidance face have a unique...
The adaptive iterative learning control for the variable trajectories driven by a deterministic finite state machine (DFSM) are addressed in this paper. The DFSM is repressed by a linear state equation with linear-inequalities, and a state feedback controller is designed to stabilize the DFSM at an equilibrium set. Then, the variable trajectories are driven by this DFSM. Combined the Backstepping...
In multi-scale low rank decomposition model, the data are assumed to be a sum of block-wise low rank matrices with different scales of block sizes. In many practical applications, data itself is not represented directly, yet in some transformation domain, e.g. the data acquired in the Fourier domain in context of magnetic resonance imaging (MRI). In this paper, we present a natural extension of the...
The use of direct device-to-device (D2D) communications is expected to drastically increase the spatial frequency reuse significantly improving the capacity of forthcoming fifth generation (5G) cellular systems. The number of D2D pairs operating within the same channel that can be supported in a certain area of interest is limited by the interference imposed by them on each other. In an inherently...
We propose a mathematical model for calculation of performance of field-emission cells. Demonstrated model allow calculating electrical potential distribution, trajectories of the emitted electrons and cell currents. Three different constructions of cell were examined. The main important features for cell performance were defined through the model. We assume that using this model will allow to simplify...
Ship course control is representative marine application which has attracted considerable attentions from control community. In this paper, the ship course control algorithm is proposed based on differential flatness and sliding mode technique. The states and control input are firstly represented by the flat output and its derivatives. In order to enhance the robustness against external disturbances...
It is found that adding a constraint linear motion on the surface normal vector of current workpiece point can make robot set up an adaptive machining method. In this way, a constraint motion according with a machining process is realized in the finite space. The scientific problems are how to quantitatively describe the law of the special motion and simplify the multi-coupling relationship caused...
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