Fully distributed guidance laws for unmanned aerial vehicles formation flight

2019 ◽  
Vol 42 (5) ◽  
pp. 965-980 ◽  
Author(s):  
Xiaoqian Wei ◽  
Jianying Yang ◽  
Xiangru Fan
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Group Formation ◽  
Formation Flight ◽  
Line Of Sight ◽  
Time Varying ◽  
Flight Trajectory ◽  
Adaptive Technology ◽  
Guidance Law ◽  
Aerial Vehicles ◽  
Guidance Laws

In this paper, three fully distributed guidance laws are designed for unmanned aerial vehicles formation flight, which have the following advantages. Adaptive technology in novel guidance laws can adapt to various graphs that only need one spanning tree. Cooperative formation does not need to set the virtual structure of formation in advance, but only needs to adjust the formation parameters in the guidance law to achieve the desired time-varying formation. This paper uses a guidance law perpendicular to the line of sight to make the flight trajectory more straight; hence, enhancing its applicability in real-world scenarios. These new guidance laws also enable group formation transformation and can optimize the unmanned aerial vehicles’ formation without global information to obtain the optimum performance of the formation. The simulation results show the practicability and effectiveness of the new method.

scholarly journals Design of Standoff Cooperative Target-Tracking Guidance Laws for Autonomous Unmanned Aerial Vehicles

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Zhen Li ◽  
Xin Chen ◽  
Zhenhua Zhao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Lyapunov Theory ◽  
Control System Design ◽  
Guidance Law ◽  
Aerial Vehicles ◽  
Communication Topology ◽  
The Stability ◽  
Cooperative Tracking ◽  
Guidance Laws ◽  
Lyapunov Vector

This paper investigates two guidance laws of standoff cooperative tracking static and moving of multiple autonomous unmanned aerial vehicles for targets from the perspective of the control system design. In the scheme of the proposed guidance laws, one vehicle is chosen as leader and others as followers. The leader only needs the measurement of the target, and the followers only measure the leader and its neighbors in the communication topology network. By using the proposed guidance laws, it is guaranteed that all vehicles can track a static or moving target with an evenly spaced formation of circle. Considering the coupling of tracking and cooperation, the stability analysis is performed by constructing two relatively independent subsystems based on Lyapunov theory, and the corresponding rigorous proofs of stability are given. By comparing with the Lyapunov vector field guidance law, the simulation results verify the effectiveness and superiority of the proposed guidance laws.

Polynomial guidance law for impact angle control with a seeker look angle limit

2019 ◽  
Vol 234 (3) ◽  
pp. 857-870
Author(s):  
Zhou Zhiming ◽  
Xiaoxian Yao
Keyword(s):  
Impact Angle ◽  
Line Of Sight ◽  
Time Varying ◽  
Proportional Navigation ◽  
Guidance Law ◽  
Maneuvering Targets ◽  
Nonlinear Simulations ◽  
Impact Angles ◽  
The Impact ◽  
Guidance Laws

In this paper, the impact angle control problem is investigated by applying the polynomial shaping method. By shaping the light-of-sight angle with relative range, a guidance law called range polynomial guidance is proposed, and the coefficients are determined by boundary conditions. The range polynomial guidance law can be applied to maneuvering targets. By profiling the seeker look angle with the light-of-sight angle, a guidance law called line-of-sight polynomial guidance is developed for impact angle control under a limitation on the seeker look angle. The line-of-sight polynomial guidance law is also effective in intercepting a non-maneuvering moving target at the desired impact angle. Guidance laws with different gain sets are discussed in this paper. The proposed guidance laws take the form of proportional navigation with a time-varying navigation gain. Nonlinear simulations are performed to validate the efficacy of the proposed guidance laws in various engagement conditions. Comparison with other studies demonstrates the practicality and flexibility of the proposed guidance laws in the design of desired impact angles and maximum look angles.

scholarly journals Time-Varying Biased Proportional Guidance with Seeker’s Field-of-View Limit

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Zhe Yang ◽  
Hui Wang ◽  
Defu Lin
Keyword(s):  
Impact Angle ◽  
Field Of View ◽  
Line Of Sight ◽  
Terminal Phase ◽  
Time Varying ◽  
Guidance Law ◽  
Homing Missiles ◽  
Guidance Laws ◽  
Bias Terms ◽  
Impact Angle Constraint

Traditional guidance laws with range-to-go information or time-to-go estimation may not be implemented in passive homing missiles since passive seekers cannot measure relative range directly. A time-varying biased proportional guidance law, which only uses line-of-sight (LOS) rate and look angle information, is proposed to satisfy both impact angle constraint and seeker’s field-of-view (FOV) limit. In the proposed guidance law, two time-varying bias terms are applied to divide the trajectory into initial phase and terminal phase. The initial bias is designed as a function of LOS rate and look angle to maintain the seeker’s lock-on while the final bias eliminates the deviation between the integral value of angle control bias and the expected bias amount. A switching logic is adopted to change the biases continuously so that there is no abrupt acceleration change during the engagement. Extensive simulations considering both kinematic and realistic missile models are performed to illustrate the efficiency of the proposed method.

Trajectory shaping guidance law design using constraint-combining multiplier

2021 ◽  
pp. 095441002098637
Author(s):  
Min-Guk Seo ◽  
Chang-Hun Lee ◽  
Tae-Hun Kim
Keyword(s):  
Design Method ◽  
Impact Angle ◽  
State Variables ◽  
Flight Trajectory ◽  
Potential Significance ◽  
Guidance Law ◽  
Terminal Constraints ◽  
The Impact ◽  
Guidance Laws ◽  
Impact Angle Constraint

A new design method for trajectory shaping guidance laws with the impact angle constraint is proposed in this study. The basic idea is that the multiplier introduced to combine the equations for the terminal constraints is used to shape a flight trajectory as desired. To this end, the general form of impact angle control guidance (IACG) is first derived as a function of an arbitrary constraint-combining multiplier using the optimal control. We reveal that the constraint-combining multiplier satisfying the kinematics can be expressed as a function of state variables. From this result, the constraint-combining multiplier to achieve a desired trajectory can be obtained. Accordingly, when the desired trajectory is designed to satisfy the terminal constraints, the proposed method directly can provide a closed form of IACG laws that can achieve the desired trajectory. The potential significance of the proposed result is that various trajectory shaping IACG laws that can cope with various guidance goals can be readily determined compared to existing approaches. In this study, several examples are shown to validate the proposed method. The results also indicate that previous IACG laws belong to the subset of the proposed result. Finally, the characteristics of the proposed guidance laws are analyzed through numerical simulations.

3D Nonlinear Guidance Law for Bank-to-Turn Missile

2011 ◽  
Vol 317-319 ◽  
pp. 727-733
Author(s):  
Shuang Chun Peng ◽  
Liang Pan ◽  
Tian Jiang Hu ◽  
Lin Cheng Shen
Keyword(s):  
Three Dimensional ◽  
Lyapunov Theory ◽  
Line Of Sight ◽  
Rate Model ◽  
Guidance Law ◽  
Terminal Constraints ◽  
Guidance Laws ◽  
3D Guidance ◽  
Guidance Model ◽  
Vector Description

A new three-dimensional (3D) nonlinear guidance law is proposed and developed for bank-to-turn (BTT) with motion coupling. First of all, the 3D guidance model is established. In detail, the line-of-sight (LOS) rate model is established with the vector description method, and the kinematics model is divided into three terms of pitching, swerving and coupling, then by using the twist-based method, the LOS direction changing model is built for designing the guidance law with terminal angular constraints. Secondly, the 3D guidance laws are designed with Lyapunov theory, corresponding to no terminal constraints and terminal constraints, respectively. And finally, the simulation results show that the proposed guidance law can effectively satisfy the guidance precision requirements of BTT missile.

scholarly journals Virtual Electric Dipole Field Applied to Autonomous Formation Flight Control of Unmanned Aerial Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4540
Author(s):  
Leszek Ambroziak ◽  
Maciej Ciężkowski
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Flight Control ◽  
Electric Dipole ◽  
Potential Field ◽  
Control Algorithm ◽  
Formation Flight ◽  
Potential Fields ◽  
Dipole Potential ◽  
Aerial Vehicles

The following paper presents a method for the use of a virtual electric dipole potential field to control a leader-follower formation of autonomous Unmanned Aerial Vehicles (UAVs). The proposed control algorithm uses a virtual electric dipole potential field to determine the desired heading for a UAV follower. This method’s greatest advantage is the ability to rapidly change the potential field function depending on the position of the independent leader. Another advantage is that it ensures formation flight safety regardless of the positions of the initial leader or follower. Moreover, it is also possible to generate additional potential fields which guarantee obstacle and vehicle collision avoidance. The considered control system can easily be adapted to vehicles with different dynamics without the need to retune heading control channel gains and parameters. The paper closely describes and presents in detail the synthesis of the control algorithm based on vector fields obtained using scalar virtual electric dipole potential fields. The proposed control system was tested and its operation was verified through simulations. Generated potential fields as well as leader-follower flight parameters have been presented and thoroughly discussed within the paper. The obtained research results validate the effectiveness of this formation flight control method as well as prove that the described algorithm improves flight formation organization and helps ensure collision-free conditions.

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