Backstepping Sliding Mode Control for Radar Seeker Servo System Considering Guidance and Control System

Wang, Yexing; Lei, Humin; Ye, Jikun; Bu, Xiangwei

doi:10.3390/s18092927

Cited by 22 publications

(7 citation statements)

References 32 publications

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“…In Zhan et al (2015), for example, robust controllers for yaw-pitch gimballed seeker are designed and their capabilities in command following and disturbance attenuation are shown. In another example, a backstepping sliding mode-based seeker tracking controller with an adaptive neural network for projectile motion disturbance compensation proposed systematic approach of applying nonlinear ADRC to laser seeker systems is developed in Wang et al (2018).…”

Section: Introductionmentioning

confidence: 99%

Systematic design of nonlinear ADRC for laser seeker system with FPGA-based rapid prototyping validation

Ferdjali

Stanković

Manojlović

et al. 2022

AEAT

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Purpose A laser seeker is an important element in missile guidance and control systems, responsible for target detection and tracking. Its control is, however, a challenging problem due to complex dynamics and various acting disturbances. Hence, the purpose of this study is to propose a systematic design, tuning, analysis and performance verification of a nonlinear active disturbance rejection control (ADRC) algorithm for the specific case of the laser seeker system. Design/methodology/approach The proposed systematic approach of nonlinear ADRC application to the laser seeker system consists of the following steps. The complex laser seeker control problem is first expressed as a regulation problem. Then, a nonlinear extended state observer (ESO) with varying gains is used to improve the performance of a conventionally used linear ESO (LESO), which enables better control quality in both transient and steady-state periods. In the next step, a systematic observer tuning, based on a detailed analysis of the system disturbances, is proposed. The stability of the overall control system is then verified using a describing function method. Next, the implementation of the NESO-based ADRC solution is realized in a fixed-point format using MATLAB/Simulink and Xilinx System Generator. Finally, the considered laser seeker control system is implemented in discrete form and comprehensively tested through hardware-in-the-loop (HIL) co-simulation. Findings Through the conducted comparative study of LESO-based and NESO-based ADRC algorithms for the laser seeker system, the advantages of the proposed nonlinear scheme are shown. It is concluded that the NESO-based ADRC scheme for the laser seeker system (with appropriate parameters tuning methodology) provides better control performance in both transient and steady-state periods. The conducted multicriteria study validates the efficacy of the proposed systematic approach of applying nonlinear ADRC to laser seeker systems. Practical implications In practice, the obtained results imply that the laser seeker system, governed by the studied nonlinear version of the ADRC algorithm, could potentially detect and track targets faster and more accurately than the system based on the common linear ADRC algorithm. In addition, the article presents the step-by-step procedure for the design, field programmable gate array (FPGA) implementation and HIL-based co-simulation of the proposed nonlinear controller, which can be used by control practitioners as one of the last validation stages before experimental tests on a real guidance system. Originality/value The main contribution of this work is the systematic procedure of applying the ADRC scheme with NESO for the specific case of the laser seeker system. It includes its design, tuning, analysis and performance verification (with simulation and FPGA hardware). The novelty of the work is also the combination and practical realization of known theoretical elements (NESO structure, NESO parameter tuning, ADRC closed-loop stability analysis) in the specific case of the laser seeker system. The results of the conducted applied research increase the current state of the art related to robust control of laser seeker systems working in disturbed and uncertain conditions.

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Section: Introductionmentioning

confidence: 99%

Systematic design of nonlinear ADRC for laser seeker system with FPGA-based rapid prototyping validation

Ferdjali

Stanković

Manojlović

et al. 2022

AEAT

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“…Then the linearized kinematics of two UAVs can be expressed in state-space form as follows:

where

with the process noise w which covers the wind gust or the target maneuver

. Please note that this is a straight-forward two-agent extension of the very widely used linearization techniques for classical optimal guidance problems [ 37 , 38 , 39 ].…”

Section: Problem Statementmentioning

confidence: 99%

Optimal Cooperative Guidance Laws for Two UAVs Under Sensor Information Deficiency Constraints

Lee

Choi

Kim

2020

Sensors

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This paper presents closed-form optimal cooperative guidance laws for two UAVs under information constraints that achieve the required relative approach angle. Two UAVs cooperate to optimize a common cost function under a coupled constraint on terminal velocity vectors and the information constraint which defines the sensor information availability. To handle the information constraint, a general two-player partially nested decentralized optimal control problem is considered in the continuous finite-horizon time domain. It is shown that under the state-separation principle the optimal solution of the decentralized control problem can be obtained by solving two centralized subproblems which cover the prediction problem for the information-deficient player and the prediction error minimization problem for the player with full information. Based on the solution of the decentralized optimal control problem, the explicit closed-form cooperative guidance laws that can be efficiently implemented on conventional guidance computers are derived. The performance of the proposed guidance laws is investigated on both centralized and decentralized cooperative scenarios with nonlinear engagement kinematics of networked two-UAV systems.

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“…The tracking system is an important part of UAVs which detects a target of interest rapidly in a large area, and then performs continuous surveillance of the selected target in the tracking phase [14]. In order to achieve target acquisition and localization, military UAVs are usually equipped with airborne radars [15] or guided seekers [16]; however, they are too heavy and unaffordable for most civilian used UAVs. As one of the most popular UAV platforms, quadrotors are more stable and have a lower manufacturing cost than helicopters.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Visual Tracking of Moving Targets Using a Low-Cost Unmanned Aerial Vehicle with a 3-Axis Stabilized Gimbal System

Liu

Yang

et al. 2020

Applied Sciences

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Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping, which are widely used in reconnaissance, surveillance, and target acquisition (RSTA) applications. In this paper, we present an onboard vision-based system for low-cost UAVs to autonomously track a moving target. Real-time visual tracking is achieved by using an object detection algorithm based on the Kernelized Correlation Filter (KCF) tracker. A 3-axis gimbaled camera with separate Inertial Measurement Unit (IMU) is used to aim at the selected target during flights. The flight control algorithm for tracking tasks is implemented on a customized quadrotor equipped with an onboard computer and a microcontroller. The proposed system is experimentally validated by successfully chasing a ground and aerial target in an outdoor environment, which has proven its reliability and efficiency.

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Backstepping Sliding Mode Control for Radar Seeker Servo System Considering Guidance and Control System

Cited by 22 publications

References 32 publications

Systematic design of nonlinear ADRC for laser seeker system with FPGA-based rapid prototyping validation

Systematic design of nonlinear ADRC for laser seeker system with FPGA-based rapid prototyping validation

Optimal Cooperative Guidance Laws for Two UAVs Under Sensor Information Deficiency Constraints

Real-Time Visual Tracking of Moving Targets Using a Low-Cost Unmanned Aerial Vehicle with a 3-Axis Stabilized Gimbal System

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