Feedback Guidance in Uncertain Spatiotemporal Wind Using a Vector Backstepping Algorithm
Feedback Guidance in Uncertain Spatiotemporal Wind Using a Vector Backstepping Algorithm
复制标题
使用矢量反步算法对不确定时空风进行反馈引导
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
E. Bakolas
中科院分区：
文献类型：
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作者：
E. Bakolas
本文研究了在存在不确定时空速度场的风的情况下，将被控物体引导到三维构型空间中给定目标集的问题。所提出的制导律使用（不完全）测量沿被控对象到给定目标集的后续路径的局部风速。假定没有关于风速梯度（时间和空间）的信息可用。所提出的制导反馈律的发展是基于一种回溯算法的使用，该算法迫使被控对象密切跟随由纯追求导航律驱动的低阶运动学模型的运动。这样，被控对象在有限时间内收敛到目标集。考虑了描述被控对象运动的两种运动学模型。在第一个模型中，被控对象的空气速度变化率是无约束的，而在第二个模型中，它有…
This work deals with the problem of guiding a controlled object to a given target set in a three-dimensional configuration space in the presence of wind with an uncertain spatiotemporal velocity field. The proposed guidance law uses (imperfect) measurements of the velocity of the local wind along the ensuing path of the controlled object to a given target set. No information about the velocity gradients (temporal and spatial) of the wind is assumed to be available. The development of the proposed guidance feedback law is based on the use of a backstepping algorithm that forces the controlled object to follow closely the motion of a lower-order kinematic model that is driven by a pure pursuit navigation law. In this way, the controlled object converges to its target set in finite time. Two kinematic models that describe the motion of the controlled object are considered. In the first model, the rate of change of the air velocity of the controlled object is unconstrained, whereas in the second one, it has t...