Rendezvous guidance with proportional navigation

Yuan, Pin-Jar; Hsu, Shau-Wei

doi:10.2514/3.21213

Cited by 31 publications

(9 citation statements)

References 23 publications

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“…The amount of acceleration has been used to denote the required energy consumption for the landing process. 1,3,4 In this study, we adopt the same idea to employ the norm of the control input u for expressing the required energy for landing. The relationship between control effort and mass of propellant m p required for landing can be expressed as 11 …”

Section: Simulation Resultsmentioning

confidence: 99%

Three-Dimensional Guidance Law for Landing on a Celestial Object

Liaw

Cheng

Liang

2000

Journal of Guidance, Control, and Dynamics

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IntroductionA S space vehicletechnologydevelops,the rendezvousof a space vehicle with a space station or a celestial object becomes possible and imminent. Many rendezvous guidance strategies for landing on an asteroid or the docking of two vehicles have been studied recently. The rendezvous problems of two space vehicles in two dimensions were presented in Refs. 1 and 2. Under similar dynamical equations, the rendezvous of a space vehicle with an asteroid was discussed in Refs. 3 and 4. However, the existing studies tended to neglect the combined impact of atmosphere and gravity. The Viking Lander descent to Mars through an unknown atmosphere density pro le, winds, and terrain characteristics was described in Ref. 5. Autonomous spacecraft navigation and control for a comet landing with model error and the effects of environmental disturbances was analyzed by Monte Carlo simulation in Ref. 6. The rendezvous with a celestial object usually consists of three successive phases 3 : 1) cruise or transfer to the vicinity of the celestial body, 2) approach, and 3) maneuvers near the celestial body. This Note is concerned with maneuver near the celestial body by using the generalized three-dimensional model with the effects of both gravity and atmospheric drag. Moreover, in this Note, the unmodeled perturbing forces such as solar radiation pressure and nonspherical gravitational effects are treated as disturbances. 7 These perturbing forces usually cause periodic variations 8 and will be formulated as trigonometric functions.The main goal of this Note is, from a theoretic point of view, to propose a new landing guidancelaw for ensuringthe vehiclelanding on the celestial body in a nite time and satisfying the landing constraint in the terminal phase when the space vehicle approachesa celestial body. That is, v ! 0 as r ! r a , where r a denotes the celestial radius. By properly selecting the desired trajectory, the landing process is transformed into a tracking problem. The variable structure control (VSC) technique is then applied to the design of a tracking control law. By the construction of a time-varying boundary layer, the tracking performance is shown to be achieved at an exponential convergence rate. Moreover, the modi ed guidance law attained is continuous and alleviates the classical chattering drawback of the VSC control scheme. An illustrative example is also presented to demonstrate the use of the results. Landing Control ProblemThe rendezvouskinematics model in vectorialform are given by 4Here, r, v, a, f, and d denote the position, velocity, and applied, drag, and disturbance accelerations,respectively, and l is the gravitational constant times the mass of the asteroid. The velocity v in the spherical coordinate system (r, h , u ) can be expressed as 9where r is the distance from the spacecraft to the celestial object, h and u are the azimuth and pitch angles with respect to the celestial body, and e r , e h , and e u are unit vectors along the coordinate vectors. An atmospheric model with varying density wo...

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Section: Simulation Resultsmentioning

confidence: 99%

Three-Dimensional Guidance Law for Landing on a Celestial Object

Liaw

Cheng

Liang

2000

Journal of Guidance, Control, and Dynamics

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“…Similar concept is also considered in [4], [32] in a similar way, but in the latest works the dynamic limitations of robot are taken into account. Adding a rendezvous technique to proportional navigation has been done in [33] with considering an additional acceleration command for the velocity control, but the zero approaching velocity has been only studied.…”

Section: Introductionmentioning

confidence: 99%

A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control

et al. 2021

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This paper presents a new method for robot interception planning based on the proportional navigation. Guidance laws are basically developed for aerospace applications where a pursuer impacts a target using these methods, however in the robotic application it is required to have a smooth grasp between the robot and the goal. In this method, a new term is considered for longitude axis to have the control on the final approaching velocity. The proposed method not only ensures the position and velocity match (also referred to as rendezvous) but also can be used to set the final closing velocity to any desired value. Approaching velocity can be zero for grasping the goal or a specific known velocity for hitting it in a controlled manner. It is shown that the capture region of the proposed approach is wider that other proportional navigation based methods. The proposed method is implemented on Qbot-2 and its performance is experimentally validated.

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“…Proportional navigation (PN) is a widely-used guidance law for terminal interception of target-missile engagement [1], and the guidance law attracts attention since the first half of the 20th century. Researches have been conducted not only for missile guidance, but also in the fields such as the guidance of vehicles [2], the formation flight of aircraft [3], small UAVs autonomous path-following [4], furthermore the problem of rendezvous of satellites and terminal guidance control to a small moon landing [5,6].…”

Section: Introductionmentioning

confidence: 99%

Guidance Law Based on Line-of-Sight Rate Information Considering Uncertain Modeled Dynamics

Nakagawa¹,

Yamasaki²,

Takano³

et al. 2018

Adv. sci. technol. eng. syst. j.

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Proportional navigation (PN) is a widely-used guidance law for missiletarget engagement. The goal of the missile intercept problem is to reduce the closest distance between the missile and target by diminishing the line-of-sight rate (LOS rate). In general, PN guidance law necessitates information of the LOS rate and missile velocity. The closing velocity (relative approaching speed to the target) instead of the missile velocity is an additional option for effective guidance. However, there are cases where a sensing device for measuring target motions that can be mounted on a missile is limited. In this paper, we propose a novel guidance law on the basis of proportional navigation (PN) using only line-of-sight (LOS) rate information. In this paper, an uncertainty and disturbance estimator (UDE) is applied to estimate such target motions including velocity change or unpredictable movement etc. The UDE works also for compensating uncertain modeled dynamics such as a missile's bearing uncertainty and velocity changes. The proposed guidance law is referred to as uncertainty and disturbance-compensated intercept guidance. Numerical simulations with some engagement scenarios are presented taking account of the velocity changes of the missile to demonstrate the potential of the proposed guidance law.

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Rendezvous guidance with proportional navigation

Cited by 31 publications

References 23 publications

Three-Dimensional Guidance Law for Landing on a Celestial Object

Three-Dimensional Guidance Law for Landing on a Celestial Object

A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control

Guidance Law Based on Line-of-Sight Rate Information Considering Uncertain Modeled Dynamics

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