Command filtered integrated estimation guidance and control for strapdown missiles with circular field of view

In this paper,an integrated estimation guidance and control(IEGC)system is designed based on the command filtered backstepping approach for circular field-of-view(FOV)strapdown missiles.The threedimensional integrated estimation guidance and control nonlinear model with limited actuator deflection angle is established considering the seeker's FOV constraint.The boundary time-varying integral barrier Lyapunov function(IBLF)is employed in backstepping design to constrain the body line-of-sight(BLOS)in IEGC system to fit a circular FOV.Then,the nonlinear adaptive controller is designed to estimate the changing aerodynamic parameters.The generalized extended state observer(GESO)is designed to estimate the acceleration of the maneuvering targets and the unmatched time-varying disturbances for improving tracking accuracy.Furthermore,the command filters are used to solve the"differential expansion"problem during the backstepping design.The Lyapunov theory is used to prove the stability of the overall closed-loop IEGC system.Finally,the simulation results validate the integrated system's effectiveness,achieving high accuracy strikes against maneuvering targets.

Adaptive Dynamic Surface Control for Integrated Missile Guidance and Autopilot

Integrated guidance and control for homing missiles utilizing adaptive dynamic surface control approach is considered based on the three channels independence design idea. A time-varying integrated guidance and control model with unmatched uncertainties is first formulated for the pitch channel, and an adaptive dynamic surface control algorithm is further developed to deal with these unmatched uncertainties. It is proved that the proposed feedback controller can ensure not only the accuracy of target interception, but also the stability of the missile dynamics. Then, the same control approach is further applied to the control design of the yaw and roll channels. The 6-degree-of-freedom （6-DOF） nonlinear missile simulation results demonstrate the feasibility and advantage of the proposed integrated guidance and control design scheme.

Integrated guidance and control of guided projectile with multiple constraints based on fuzzy adaptive and dynamic surface

Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.

Multiconstraint adaptive three-dimensional guidance law using convex optimization

The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional navigation(PN) guidance law is proposed based on convex optimization. Decomposition of the three-dimensional space is carried out to establish threedimensional kinematic engagements. The constraints and the performance index are disposed by using the convex optimization method. PN guidance gains can be obtained by solving the optimization problem. This solution is more rapid and programmatic than the traditional method and provides a foundation for future online guidance methods, which is of great value for engineering applications.

Guidance and Control for UAV Aerial Refueling Docking Based on Dynamic Inversion with L_1 Adaptive Augmentation

The guidance and control for UAV aerial refueling docking based on dynamic inversion with L1 adaptive augmentation is studied.In order to improve the tracking performance of UAV aerial refueling docking,aguidance algorithm is developed to satisfy the tracking requirement of position and velocity,and it generates the UAV flight control loop commands.In flight control loop,based on the 6-DOF nonlinear model,the angular rate loop and the attitude loop are separated based on time-scale principle and the control law is designed using dynamic inversion.The throttle control is also derived from dynamic inversion method.Moreover,an L1 adaptive augmentation is developed to compensate for the undesirable effects of modeling uncertainty and disturbance.Nonlinear digital simulations are carried out.The results show that the guidance and control system has good tracking performance and robustness in achieving accurate aerial refueling docking.

Adaptive Constrained On-board Guidance Technology forPowered Glide Vehicle

To make full use of expanded maneuverability and increased range,adaptive constrained on-board guidance technology is the key capability for a glide vehicle with a double-pulse rocket engine,especially under the requirements of desired target changing and on-line reconfigurable control and guidance.Based on the rapid footprint analysis,whether the new target is within the current footprint area is firstly judged.If not,the rocket engine ignites by the logic obtained from the analysis of optimal flight range by the method of hp-adaptive Gauss pseudospectral method(hp-GPM).Then,an on-board trajectory generation method based on powered quasi-equilibrium glide condition(QEGC)and linear quadratic regulator(LQR)method is used to guide the vehicle to the new target.The effectiveness of the guidance method consisted of powered on-board trajectory generation,LQR trajectory tracking,footprint calculation,and ignition time determination is indicated by some simulation examples.

Study on rate ripple and its adaptive suppression method in inertia guidance test equipment

This paper discusses causes of the rate ripple in inertia guidance test equipment IGET,systematically analyses their effects on the rate ripple in IGTE.The analysis result shows:The rate ripple caused by the periodic errors of inductosyn and angular encoder is higher at high speed than that caused by magnetic ripple torque and friction torque,and it cannot be eliminated by adjusting control parameters of the system.And based on the nonlinear adaptive control system theory,the paper puts forward a new control system scheme to eliminate the rate ripple caused by the periodic errors of inductosyn and angular encoder,develops the adaptive control rules and makes simulation and test.Experimental result shows a significant improvement on those tables for the period disturbs under the system scheme designed.By this plan,with the input of rate 200°/s,the rate ripple falls from 5°/s to 0.4°/s within about 6s adaptive adjustment time,being a twelfth of before adaptation,which can not be reached by common classical controls.The experimental results conform with the simulation,which proves the validity and practicability of the plan.

Scheme of adaptive polarization filtering based on Kalman model

A new kind of adaptive polarization filtering algorithm in order to suppress the angle cheating interference for the active guidance radar is presented. The polarization characteristic of the interference is dynamically tracked by using Kalman estimator under variable environments with time. The polarization filter parameters are designed according to the polarization characteristic of the interference, and the polarization filtering is finished in the target cell. The system scheme of adaptive polarization filter is studied and the tracking performance of polarization filter and improvement of angle measurement precision are simulated. The research results demonstrate this technology can effectively suppress the angle cheating interference in guidance radar and is feasible in engineering.

Guidance Law Design Under Impact Angle Constraint Based on Nussbaum-type Gain Technique

Aiming at the guidance problem under impact angle constraint for homing missile against ground targets,a new adaptive robust nonlinear terminal guidance law was proposed in this paper.According to nonlinear kinetic relationship between the missile and target in vertical plane,a mathematic model was formulated while the motion of target and the system structure perturbation were regarded as limited disturbances.Based on the ideas of zeroing the rate of line-of-sight(LOS)angle and the impact angular tracking error,a nonlinear control strategy was contrived to obtain adaptive robust guidance law by adopting Nussbaum-type gain technique under a desired impact angle.The stability of guidance system in finite time is strictly proven by using Lyapunov stability theory.Finally,the numerical simulation verifies the effectiveness of the proposed scheme.

Cooperative interception with fast multiple model adaptive estimation

For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.

飞行器博弈制导进程与展望

博弈制导可处理复杂系统中涉及多方合作、竞争的动态问题,有利于实现智能化战场上信息价值最大化发挥,推动精确制导武器的智能化发展。本文总结了博弈制导的基本分类和建模方法,从终端角度约束、时间约束、过载约束、末速约束等方面提出了飞行器博弈制导的关键性问题,搭建了矩阵博弈、微分博弈两种典型博弈模型求解框架,从解析解、数值解、智能算法等方面对博弈制导的求解方法进行梳理。最后,从非线性微分博弈求解方法,非完备信息博弈算法,不均衡、非对称信息下多飞行器协同,多类型武器体系博弈等方向出发,对飞行器博弈制导未来的发展趋势进行了展望和总结。

面向海底管道巡检的AUV三维自适应路径跟踪

针对面向海底管道巡检任务的欠驱动自主水下航行器(AUV)三维路径跟踪控制问题进行研究。首先,在固定坐标系和机体坐标系下建立AUV的运动学模型,为设计适宜运动控制的三维路径跟踪控制器,建立流体坐标系,并在Serret-Frenet坐标系下建立AUV的路径跟踪误差模型;其次,将可变前视距离引入传统视线(LOS)制导策略,提出一种自适应LOS制导策略以提高制导精度,并基于此设计面向海底管道巡检的AUV三维路径跟踪控制器,使得AUV可有效跟踪设定的参数化路径;最后,基于李雅普诺夫稳定性理论证明了闭环系统的稳定性。仿真结果验证了所提面向海底管道巡检的三维路径跟踪控制器的有效性。研究成果能够改善AUV的操纵性,可为面向海底管道巡检的无人水下航行器路径跟踪控制方法提供参考。

可判别性标签语义指导的域适应检索

从不同领域准确检索相似的对象,域适应检索解决了信息检索中的域偏移问题.然而,现有的方法仍然存在两个问题:a)忽略了类结构差异造成的域偏移(跨域和域内不同类的距离较近);b)忽略了特征与标签之间的语义差异.为了解决上述两个问题,本文提出了一种高效的可判别性标签语义指导学习(DLSG)方法.该方法探索源域和目标域的类结构,通过拉大不同类的距离使得类别更具有判别性.然后通过标签语义指导学习(LSG)来增强特征的标签语义,以提高学习的有效性.此外,动态对齐边缘分布和条件分布,以减少域差异.最后,采用两步哈希策略生成高质量的哈希码.在多个跨域检索数据集上的实验表明,DLSG的性能得到了提高.

三维自适应固定时间多导弹协同制导律

针对三维空间内多导弹对机动目标同时攻击的问题,提出一种具有自适应律的三维多导弹固定时间协同制导律。建立三维空间导弹-目标动力学模型,以弹目视线方向和其垂直方向设计制导律,可保证剩余飞行时间和法向速度在固定时间内完成一致性收敛。采用自适应律来跟踪机动目标运动参数策略,提高多导弹系统的稳定性与对机动目标的打击精度。改进多导弹系统收敛条件,所设计的制导律具备了对攻击时间的约束能力。向制导律中加入饱和函数,避免因符号函数带来的系统抖振。通过仿真实验验证所提固定时间协同制导律的有效性及对抗通信拓扑切换的鲁棒性。实验结果表明:相较于对比文献所设计的制导律具有系统快速收敛以及高精度。

基于双指导扩散模型的单样本图像域自适应

为了避免现有的单样本图像域自适应算法在反转重建过程中丢失内容信息的现象,提出一种利用CLIP(contrastive language-image pretraining)和ViT(vision transformer)双指导扩散模型去噪、实现内容对齐的单样本图像域自适应算法。首先设计一种基于扩散模型的域反转算法,将位于目标域的图像通过预训练的扩散模型反转到源域,从而获得了内容相同但域信息不同的图像对。其次,将图像对映射到CLIP模型隐空间中,通过内容主导和域主导的2个方向分别顾及内容信息和域信息;同时,将图像对映射到ViT模型隐空间中,通过对比学习的方式分别约束内容信息和域信息。最后,使用条件化指导的去噪方式,实现任意源域图像到目标域的转换。此外,该算法也适用于未见域间转换和多属性编辑的任务。定性和定量的实验结果证明,该算法相对于其他先进算法在多个性能指标上提升2%~27%。

基于一致引导的不完全多视图聚类

为了解决传统聚类方法存在的效果差、泛化能力弱等问题,提出一种基于一致引导的不完全多视图聚类方法。将图学习和一致性表示学习集成到一个联合框架中,从而充分利用多视图数据信息。引入的自适应学习权值向量可以平衡不同视图的影响,联合正则化表示学习策略则为一致表示学习提供了更大的自由度。提出交替迭代优化算法对聚类进行优化。在七个数据集上的实验结果表明,提出的方法能够有效提升不完全多视图聚类的效果。

结合罗伊适应模式的个性化指导在糖尿病患者健康教育中的应用效果

目的探讨结合罗伊适应模式的个性化指导在糖尿病患者健康教育中的应用效果。方法选取2022年6—12月广东医科大学附属第三医院住院糖尿病患者100例,采用随机数表法分为试验组(50例)和对照组(50例),对照组采用传统常规健康教育模式,试验组采用结合罗伊适应模式的个性化指导模式进行干预。比较干预前后患者的自我管理行为量表(SDSCA)、自我护理能力量表(ESCA)得分;比较干预前后患者空腹血糖、餐后2 h血糖以及糖化血红蛋白的水平;比较干预前后患者的简易生活质量量表(SF-36)评分。结果干预后试验组SDSCA和ESCA得分均高于对照组,差异有统计学意义(P<0.05);干预后试验组的空腹血糖、餐后2 h血糖、糖化血红蛋白水平均低于对照组,差异有统计学意义(P<0.05);干预后试验组SF-36评分高于对照组,差异有统计学意义(P<0.05)。结论采用结合罗伊适应模式的个性化指导对糖尿病患者进行健康教育,有利于患者自我管理能力、自我护理能力以及控制血糖能力的提高,并提升患者的生活质量。

基于机器视觉的机器人避障算法研究

为了解决机器人在自主导航中避障能力有限的问题,采用YOLOv5s目标检测模型来实现障碍物视觉感知。随后,将视觉感知算法获取的障碍物二维坐标和深度相机的深度值结合,形成实时导航信息。在避障方面,提出了自适应修正导航矢量场算法,以实现自主导航功能。通过在基于AirSim的仿真平台上的验证,结果显示避障成功率可达94%,表明该算法能够增强机器人的感知能力并提高其避碰性能。

基于模糊控制的独立旋转车轮主动导向问题研究

独立旋转车轮导向能力差是低地板城市轨道交通车辆推广应用进程中必须解决的难题之一。文章基于模糊自适应PID控制策略,以独立旋转车轮左右轮转速差作为控制输入量,利用SIMPACK独立旋转车轮单节车辆动力学模型与Simulink控制策略模型进行了联合仿真研究。以独立轮对的横移量、摇头角、脱轨系数作为考察指标,对比分析了不加控制、施加经典PID控制、施加模糊自适应PID控制3种情况的计算结果,发现主动控制可以有效提高独立旋转车轮的导向能力,并且模糊自适应PID控制策略优于经典PID控制策略。

Adaptive block dynamic surface control for integrated missile guidance and autopilot

A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by combining the nonlinear missile dynamics with the nonlinear dynamics describing the pursuit situation of a missile and a target in the three-dimensional space. The integrated guidance and autopilot design problem is further converted to a state regulation problem of a time-varying nonlinear system with matched and unmatched uncertainties. A new and simple adaptive block dynamic surface control algorithm is proposed to address such a state regulation problem. The stability of the closed-loop system is proven based on the Lyapunov theory. The six degrees of freedom （6DOF） nonlinear numerical simulation results show that the proposed integrated guidance and autopilot algorithm can ensure the accuracy of target interception and the robust stability of the closed-loop system with respect to the uncertainties in the missile dynamics.