An Input-to-State Stabilizing Control Lyapunov Function for Autonomous Guidance and Control

In this study, a novel integrated guidance and control (IGC) algorithm based on an IGC method and the asymmetric barrier Lyapunov function is designed; this algorithm is designed for the interceptor missile which uses a direct-force/aerodynamic-force control scheme. First, by considering the coupling between the pitch and the yaw channels of the interceptor missile, an IGC model of these channels is established, and a time-varying gain extended state observer (TVGESO) is designed to estimate unknown interferences in the model. Second, by considering the system output constraint problem, an asymmetric barrier Lyapunov function and a dynamic surface sliding-mode control method are employed to design the control law of the pitch and yaw channels to obtain the desired control moments. Finally, in light of redundancy in such actuators as aerodynamic rudders and jet devices, a dynamic control allocation algorithm is designed to assign the desired control moments to the actuators. Moreover, the results of simulations show that the IGC algorithm based on the asymmetric barrier Lyapunov function for the interceptor missile allows the outputs to meet the constraints and improves the stability of the control system of the interceptor missile.

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Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems

Journal of Applied Mathematics ◽

10.1155/2014/598384 ◽

2014 ◽

Vol 2014 ◽

pp. 1-9 ◽

Cited By ~ 2

Author(s):

Bingtuan Gao ◽

Fei Ye

Keyword(s):

Control Design ◽

Dynamical Analysis ◽

Lagrange Equations ◽

Control Lyapunov Function ◽

Stabilizing Controller ◽

Control Techniques ◽

Stabilizing Control ◽

Rotor Angle ◽

General Force ◽

And Control

Rotational translational actuator (RTAC) system, whose motions occur in horizontal planes, is a benchmark for studying of control techniques. This paper presents dynamical analysis and stabilizing control design for the RTAC system on a slope. Based on Lagrange equations, dynamics of the inclined RTAC system is achieved by selecting cart position and rotor angle as the general coordinates and torque acting on the rotor as general force. The analysis of equilibriums and their controllability yields that controllability of equilibriums depends on inclining direction of the inclined RTAC system. To stabilize the system to its controllable equilibriums, a proper control Lyapunov function including system energy, which is used to show the passivity property of the system, is designed. Consequently, a stabilizing controller is achieved directly based on the second Lyapunov stability theorem. Finally, numerical simulations are performed to verify the correctness and feasibility of our dynamical analysis and control design.

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Autonomous guidance and control of a solar electric propulsion spacecraft

10.2514/6.1997-3818 ◽

1997 ◽

Cited By ~ 3

Author(s):

Sima Lisman ◽

Daniel Chang ◽

Gurkirpal Singh ◽

Fred Hadaegh ◽

Sima Lisman ◽

...

Keyword(s):

Electric Propulsion ◽

Guidance And Control ◽

Autonomous Guidance ◽

Solar Electric Propulsion ◽

And Control

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Experimental framework for evaluating autonomous guidance and control algorithms for agile aerial vehicles

2007 European Control Conference (ECC) ◽

10.23919/ecc.2007.7068647 ◽

2007 ◽

Cited By ~ 6

Author(s):

Nuri Kundak ◽

Bernard Mettler

Keyword(s):

Control Algorithms ◽

Guidance And Control ◽

Autonomous Guidance ◽

Aerial Vehicles ◽

And Control

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Underwater Environment SDAP Method Using Multi Single-Beam Sonars

Mathematical Problems in Engineering ◽

10.1155/2013/718012 ◽

2013 ◽

Vol 2013 ◽

pp. 1-17

Author(s):

Zheping Yan ◽

Dongnan Chi ◽

Shuping Hou ◽

Yalin Zheng

Keyword(s):

Feedback Linearization ◽

Simultaneous Detection ◽

Linearization Method ◽

Support Vector ◽

Single Beam ◽

Guidance And Control ◽

Autonomous Guidance ◽

Reference Path ◽

Vector Clustering ◽

And Control

A new autopilot system for unmanned underwater vehicle (UUV) using multi-single-beam sonars is proposed for environmental exploration. The proposed autopilot system is known as simultaneous detection and patrolling (SDAP), which addresses two fundamental challenges: autonomous guidance and control. Autonomous guidance, autonomous path planning, and target tracking are based on the desired reference path which is reconstructed from the sonar data collected from the environmental contour with the predefined safety distance. The reference path is first estimated by using a support vector clustering inertia method and then refined by Bézier curves in order to satisfy the inertia property of the UUV. Differential geometry feedback linearization method is used to guide the vehicle entering into the predefined path while finite predictive stable inversion control algorithm is employed for autonomous target approaching. The experimental results from sea trials have demonstrated that the proposed system can provide satisfactory performance implying its great potential for future underwater exploration tasks.

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