A Novel INDI based Guidance Law for Fixed Wing Aircrafts: Derivation and Application

In this paper, we comprehensively present and derive two INDI principle based guidance laws for fixed wing aircrafts. More specifically, two control methods are mathematically derived in detail, where the first decouples the lateral and the longitudinal channels while the second takes the interactions into account. The cumbersome mathematical operations involved in the derivation process aim at reaching a more concise control method and also at providing the community with clearer physical concepts behind this formula. The reason for manipulating transformation matrices is to find a univariate function and to isolate the variable as a virtual input. Efficient and modular guidance control law is then permitted. Lastly, the proposed guidance methods are applied to a 6 dof nonlinear platform under various flight modes to demonstrate the feasibility and advantages.

A Novel INDI based Guidance Law for Fixed Wing Aircrafts: Derivation and Application

In this paper, we comprehensively present and derive two INDI principle based guidance laws for fixed wing aircrafts. More specifically, two control methods are mathematically derived in detail, where the first decouples the lateral and the longitudinal channels while the second takes the interactions into account. The cumbersome mathematical operations involved in the derivation process aim at reaching a more concise control method and also at providing the community with clearer physical concepts behind this formula. The reason for manipulating transformation matrices is to find a univariate function and to isolate the variable as a virtual input. Efficient and modular guidance control law is then permitted. Lastly, the proposed guidance methods are applied to a 6 dof nonlinear platform under various flight modes to demonstrate the feasibility and advantages.

Leaderless Maneuver Guidance and Event-Triggered Formation Control for Distributed Multi-Space-Robot Systems

In this paper, the distributed displacement-based formation and leaderless maneuver guidance control problems of multi-space-robot systems are investigated by introducing event-triggered control update mechanisms. A distributed formation and leaderless maneuver guidance control framework is first constructed, which includes two parallel controllers, namely, an improved linear quadratic regulator and a distributed consensus-based formation controller. By applying this control framework, the desired formation configuration of multi-space-robot systems can be achieved and the center of leaderless formation can converge to the target point globally. Second, a pull-based event triggering mechanism is introduced to the distributed formation controller, which makes the control update independent of the events of neighboring robots, avoids unnecessary control updates, and saves the extremely limited energy of space robots. Furthermore, the potential Zeno behaviors have been excluded by proving a positive lower bound for the inter-event times. Finally, numerical simulation verifies the effectiveness of the theoretical results.

Decentralized Triangular Guidance Algorithms for Formations of UAVs

This paper deals with the design of a guidance control system for a swarm of unmanned aerial systems flying at a given altitude, addressing flight formation requirements that can be formulated constraining the swarm to be on the nodes of a triangular mesh. Three decentralized guidance algorithms are presented. A classical fixed leader–follower scheme is compared with two alternative schemes: the former is based on the self-identification of one or more time-varying leaders; the latter is an algorithm without leaders. Several operational scenarios have been simulated involving swarms with obstacles and an increasing number of aircraft in order to prove the effectiveness of the proposed guidance schemes.

Know-How, Performance Enhancement, and Guidance Control

If intellectualism about knowledge-how is true (and so, if knowledge-how is a species of knowledge-that), then to the extent that we need an autonomy condition on know-how, it will be (simply) an autonomy condition on know-that: a condition on propositional knowledge-apt belief. However, the anti-intellectualist—according to whom know-how is fundamentally dispositional rather than propositional—would need an entirely different story here––one that places an autonomy-related restriction not on propositional-knowledge-apt belief but, instead, on know-how-apt dispositions. Chapter 4 develops exactly this kind of restriction, by cobbling together some ideas about know-how and virtue epistemology with recent thinking in the moral responsibility literature about freedom, responsibility, and manipulation. The proposal is that one is in a state of knowing how to do something, φ‎, only if one has the skill to φ‎ successfully with guidance control, and one’s φ‎-ing exhibits guidance control (and furthermore, manifests know-how) only if one’s φ‎-ing is caused by a reasons-responsive mechanism that one owns. Unsurprisingly, the devil is in these details—and this chapter aims to spell them out in a way that rules out certain kinds of radical performance enhancing cases while not ruling out that, say, one knows how to do a maths problem when one’s performance is just mildly boosted by Adderall.

Control

This chapter begins relating the rather abstract issues considered so far to the issue of moral responsibility. It introduces the notion of guidance control in the first section, before examining some influential analyses that have been offered of this form of control. In particular, the chapter examines both reasons-sensitivity and hierarchical analyses of this notion. It is argued that there is reason to be sceptical of the claim that such analyses can offer an adequate account independent of considerations regarding abilities to do otherwise. This discussion, in addition to a counterexample offered, challenges the view that we can cleanly divorce the concepts of regulative and guidance control as is often proposed. The chapter ends by sketching an alternative, unified ability analysis of control, which combines elements associated with both regulative and guidance analyses of control.

Tracking Control of an Autonomous Head Feeding Combine

This study aims to develop an autonomous combine harvester. A manual steering combine harvester was modified autonomously using navigation systems of an RTK-DGPS, a gyroscope, and crawler speed sensors. These sensors could determine the combine position and heading required to guide the path. The control system is processed for these navigation sensors' data to make the decision of combine movement. Moreover, it commands the actuator to move the steering lever mechanism. The steering control's desired heading angle was determined from lateral error, heading error, and the traveling speed. In this study, the combined harvester's average forward traveling speed was set at 0.17 m/s, adjusted to a navigation sensor's sampling rate of 5 Hz and the steering mechanism delay. The preliminary test showed the combine could turn by pivoting one of its tracks which turned the radius was into 0.4 m. Furthermore, a guidance control system of the combine harvester was developed based on this test result. The developed guidance control system was successfully guiding the combine to follow the harvesting path. The test results showed that the root mean square of the lateral error was less than 0.1 m.