3 research outputs found
Three-Dimensional Integrated Guidance and Control Based on Small-Gain Theorem
A three-dimensional (3D) integrated guidance and control (IGC) design
approach is proposed by using small-gain theorem in this paper. The 3D IGC
model is formulated by combining nonlinear pursuer dynamics with the nonlinear
dynamics describing pursuitevasion motion. Small-gain theorem and ISS theory
are iteratively utilized to design desired attack angle, sideslip angle and
attitude angular rates (virtual controls), and eventually an IGC law is
proposed. Theoretical analysis shows that the IGC approach can make the LOS
rate converge into a small neighborhood of zero, and the stability of the
overall system can be guaranteed as well.Comment: 20 pages, 2 figure
Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics
A solution to the waypoint navigation problem for fixed wing micro air
vehicles (MAV) is addressed in this paper, in the framework of integrated
guidance and control (IGC). IGC yields a single step solution to the waypoint
navigation problem, unlike conventional multiple loop design. The pure
proportional navigation (PPN) guidance law is integrated with the MAV dynamics.
A multivariable static output feedback (SOF) controller is designed for the
linear state space model formulated in the IGC framework. The waypoint
navigation algorithm handles the minimum turn radius constraint of the MAV. The
algorithm also evaluates the feasibility of reaching a waypoint. Extensive
non-linear simulations are performed on high fidelity 150 mm wingspan MAV model
to demonstrate the potential advantages of the proposed waypoint navigation
algorithm
Deep Reinforcement Learning for Six Degree-of-Freedom Planetary Powered Descent and Landing
Future Mars missions will require advanced guidance, navigation, and control
algorithms for the powered descent phase to target specific surface locations
and achieve pinpoint accuracy (landing error ellipse 5 m radius). The
latter requires both a navigation system capable of estimating the lander's
state in real-time and a guidance and control system that can map the estimated
lander state to a commanded thrust for each lander engine. In this paper, we
present a novel integrated guidance and control algorithm designed by applying
the principles of reinforcement learning theory. The latter is used to learn a
policy mapping the lander's estimated state directly to a commanded thrust for
each engine, with the policy resulting in accurate and fuel-efficient
trajectories. Specifically, we use proximal policy optimization, a policy
gradient method, to learn the policy. Another contribution of this paper is the
use of different discount rates for terminal and shaping rewards, which
significantly enhances optimization performance. We present simulation results
demonstrating the guidance and control system's performance in a 6-DOF
simulation environment and demonstrate robustness to noise and system parameter
uncertainty.Comment: 37 page