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2021 Seventh Indian Control Conference (ICC)最新文献

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Time-Constrained Individual Homing Guidance against Stationary Targets 针对静止目标的时间约束个体寻的制导
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703126
Rohit V. Nanavati, S. R. Kumar, Arnab Maity
{"title":"Time-Constrained Individual Homing Guidance against Stationary Targets","authors":"Rohit V. Nanavati, S. R. Kumar, Arnab Maity","doi":"10.1109/ICC54714.2021.9703126","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703126","url":null,"abstract":"In this paper, terminal sliding mode control based impact time-constrained guidance strategies are proposed, which enable the pursuers to achieve individual homing based simultaneous interception of a stationary target. Guidance commands are derived using switching surfaces based on range errors and their rates. As the guidance laws are designed using nonlinear engagement kinematics, the proposed strategies achieve salvo interception at desired impact time even for the engagement with large heading angle errors. Unlike most of the existing guidance strategies, the proposed guidance strategies circumvent the possible degradations due to erroneous time-to-go estimates. The proposed strategies are shown to perform satisfactorily for different impact times and also exhibited desirable terminal features as compared to existing salvo strategies.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124282216","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Novel Quaternion-based Nonlinear Dynamic Inversion for Rigid Body Control 一种基于四元数的刚体控制非线性动力学反演方法
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703121
Mahathi Bhargavapuri, Hardik Parwana
{"title":"A Novel Quaternion-based Nonlinear Dynamic Inversion for Rigid Body Control","authors":"Mahathi Bhargavapuri, Hardik Parwana","doi":"10.1109/ICC54714.2021.9703121","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703121","url":null,"abstract":"In this paper, a novel fully quaternion-based nonlinear dynamic inversion (NDI) controller is developed for attitude tracking of a rigid body in $mathbb{R}^{3}$. Such a nonlinear controller finds its application in highly maneuverable systems such as satellites and quadrotors. The quaternion-based control avoids gimbal lock problem associated with Euler angles and allows almost global asymptotic stability. The attitude controller is well suited for rigid body systems like satellites which require minimising large-angle errors. Extensive simulations are performed on MATLAB to validate the proposed ideas and provide a comparison with existing works. A realistic physics-engine-based simulation is carried out in Gazebo to validate the proposed methodology on a quadrotor.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125648529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Impact Angle Constrained Integrated Guidance and Control for a Dual-controlled Interceptor 双控拦截弹冲击角约束综合制导与控制
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703136
Abhinav Sinha, Rohit V. Nanavati, S. R. Kumar
{"title":"Impact Angle Constrained Integrated Guidance and Control for a Dual-controlled Interceptor","authors":"Abhinav Sinha, Rohit V. Nanavati, S. R. Kumar","doi":"10.1109/ICC54714.2021.9703136","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703136","url":null,"abstract":"In this work, we address the problem of an angle-constrained interception within an integrated guidance and control framework. We consider a dual-controlled interceptor (an interceptor equipped with canard and tail aerodynamic control surfaces), and design fin deflection commands directly to effect the lateral acceleration needed to steer the interceptor on a course leading to interception of a stationary target with constrained impact angle. We use a weighted effort allocation scheme that apportions the available effort in canard and tail surfaces to generate the required lateral acceleration. With an additional degree of freedom, our design exhibits fault-tolerance and is also capable to address other objectives. We present the overall design using sliding mode control to make the design insensitive to modeling errors and parametric uncertainties. We, further, demonstrate the efficacy of our design via numerical simulations.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128186362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Estimation and Control for Autonomous UAV System to Neutralize unknown Aerial Maneuvering Target 自主无人机系统对未知空中机动目标的估计与控制
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703182
Raunak Srivastava, Rolif Lima, Chinmay Shinde, Durgakant Pushp, K. Das
{"title":"Estimation and Control for Autonomous UAV System to Neutralize unknown Aerial Maneuvering Target","authors":"Raunak Srivastava, Rolif Lima, Chinmay Shinde, Durgakant Pushp, K. Das","doi":"10.1109/ICC54714.2021.9703182","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703182","url":null,"abstract":"Autonomous capture of aerial non-cooperative target is a complex task requiring expertise from various fields like mechanical design, computer vision as well as estimation and control theory. The current work aims at presenting an estimation and control system as a part of an end to end solution for detecting, tracking and finally grabbing a dynamic aerial target. Estimation and control is typically challenging when the target under consideration is a maneuvering one. An Extended Kalman Filter is used to estimate the real time pose of the target with respect to the pursuer drone. This is followed by estimation of smooth trajectory which is fed to a gain scheduling based PD controller in order to engage head on with the target. Further, the accuracy of estimation algorithms and the ability of the proposed system to neutralize the target is demonstrated by means of simulation and experimental results.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131037366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
ICC Digest 国际刑事法庭的消化
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/icc54714.2021.9703172
{"title":"ICC Digest","authors":"","doi":"10.1109/icc54714.2021.9703172","DOIUrl":"https://doi.org/10.1109/icc54714.2021.9703172","url":null,"abstract":"","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123721617","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Coordinated Standoff Target Tracking by Multiple UAVs in Obstacle-filled Environments 障碍物环境下多无人机协同对峙目标跟踪
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703132
T. Harinarayana, Sikha Hota
{"title":"Coordinated Standoff Target Tracking by Multiple UAVs in Obstacle-filled Environments","authors":"T. Harinarayana, Sikha Hota","doi":"10.1109/ICC54714.2021.9703132","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703132","url":null,"abstract":"This work discusses a distributed guidance algorithm for standoff target tracking by multiple unmanned vehicles using the traditional Lyapunov guidance vector field framework. The virtual-leader follower topology is used to achieve the formation flight. The novelty of the proposed algorithm is that it considers the maximum possible angular turn rate bounds of the vehicles and generates continuous curvature paths which are flyable. The proposed algorithm ensures that UAVs can afford the lateral acceleration demand of the formation and can track the paths with very low tracking error, which makes it possible to implement in real-world applications. Finally, this guidance algorithm has been extended for standoff target tracking in an obstacle-filled environment. Simulation results are presented to validate the efficacy of the proposed guidance law.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125061152","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Event-triggered control for a linear continuous-time system under resource-constrained environment 资源受限环境下线性连续时间系统的事件触发控制
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703150
P. Sahu, D. Fulwani
{"title":"Event-triggered control for a linear continuous-time system under resource-constrained environment","authors":"P. Sahu, D. Fulwani","doi":"10.1109/ICC54714.2021.9703150","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703150","url":null,"abstract":"This paper proposes a network-based event-triggered control for a linear continuous-time system. The primary feature of the proposed event-triggered mechanism is to trigger an event and transmit the system measurements when a pre-defined condition on input error is satisfied. Due to an input error in the triggered condition, redundant control updates are avoided, which can further decrease the number of events for some instances under a network resource-constrained environment. Moreover, a continuous-time dynamic event-triggered mechanism is suggested to improve resource utilization. Furthermore, a finite positive time interval between two consecutive events and the system's stability are established. A numerical example is considered to show the effectiveness of the proposed work.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116226379","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Motion Planning for Tractor-Trailer System 牵引车-挂车系统运动规划
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703119
Tanuj Thakkar, A. Sinha
{"title":"Motion Planning for Tractor-Trailer System","authors":"Tanuj Thakkar, A. Sinha","doi":"10.1109/ICC54714.2021.9703119","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703119","url":null,"abstract":"Motion planning for a tractor-trailer system is a challenging problem due to the nonholonomic constraints and highly nonlinear nature of the system. In this paper, we present a motion planning approach based on the Hybrid A* algorithm which produces smooth, collision-free, and kinematically feasible paths for a tractor-trailer system in a known environment. Kinematic model based on the on-axle hitching configuration of the tractor-trailer system is used for node expansion. Voronoi graph is used to compute sub-goals that guide the search towards the goal faster. A pure pursuit controller is employed to track the generated trajectory. The planning approach is evaluated over a number of Monte-Carlo simulation runs, and the experimental results indicate a perfect accuracy.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121990525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Adaptive Fault-Tolerant Control of Uncertain Euler-Lagrange Systems With Time-Varying Actuator Faults 具有时变执行器故障的不确定欧拉-拉格朗日系统的自适应容错控制
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703171
Pritesh Patel, S. Roy, S. Bhasin
{"title":"Adaptive Fault-Tolerant Control of Uncertain Euler-Lagrange Systems With Time-Varying Actuator Faults","authors":"Pritesh Patel, S. Roy, S. Bhasin","doi":"10.1109/ICC54714.2021.9703171","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703171","url":null,"abstract":"In this paper, the command tracking problem for uncertain Euler-Lagrange (EL) systems with multiple partial loss of effectiveness (PLOE) actuator faults is considered. Compared to the existing fault-tolerant controllers for Euler-Lagrange systems, the proposed adaptive controller accounts for parametric uncertainties in both the system parameters and multiple time-varying actuator fault parameters. The closed-loop fault-tolerant system is treated as a switched dynamical system, and a switched system stability is established using multiple Lyapunov functions. It is shown that all signals are bounded in each sub-interval and at the switching instances, and asymptotic tracking can be obtained for a finite number of fault occurrences. Finally, a simulation example on a robotic manipulator is presented to show the effectiveness of the proposed method.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124186078","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Collective Circular Motion with Trajectory and Turn-Rate Constraints 具有轨迹和转速约束的集体圆周运动
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703143
Shubham Sharma, Anoop Jain
{"title":"Collective Circular Motion with Trajectory and Turn-Rate Constraints","authors":"Shubham Sharma, Anoop Jain","doi":"10.1109/ICC54714.2021.9703143","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703143","url":null,"abstract":"This paper stabilizes the collective motion of a group of agents, with second-order unicycle model, about a desired circular orbit, while constraining their trajectories and turn-rates within predefined limits. Additionally, we achieve synchronization, balancing and splay patterns in their heading angles. To solve this problem, the stabilizing control laws are derived by combining the concept of the barrier Lyapunov function with phase-potential functions. Imposing these constraints have advantages in terms of the following: i) the agents do not transgress the given workspace and hence, this ensures safety from territorial attacks ii) maintain a proximity to the desired circular motion iii) the applied lateral force does not exceed the desired limit of a vehicle, imposed by its physical constraints. Simulations are provided to illustrate the theoretical findings.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129259544","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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