The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional na...The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional navigation(PN) guidance law is proposed based on convex optimization. Decomposition of the three-dimensional space is carried out to establish threedimensional kinematic engagements. The constraints and the performance index are disposed by using the convex optimization method. PN guidance gains can be obtained by solving the optimization problem. This solution is more rapid and programmatic than the traditional method and provides a foundation for future online guidance methods, which is of great value for engineering applications.展开更多
针对空间机器人的特点设计了多种遥操作控制模式,提出了空间机器人遥操作分层控制结构LATSR(Layered Architecture for Teleoperation of Space Robot),并研制了一套遥操作系统,包括任务规划子系统、主从控制子系统、预测仿真子系统、...针对空间机器人的特点设计了多种遥操作控制模式,提出了空间机器人遥操作分层控制结构LATSR(Layered Architecture for Teleoperation of Space Robot),并研制了一套遥操作系统,包括任务规划子系统、主从控制子系统、预测仿真子系统、信息处理子系统和地面验证子系统.最后利用该系统开展了多项遥操作实验,对整个系统及各子系统的功能和性能进行了检验.该系统具有灵活的操作接口,既为一般用户提供了简便的用户界面,也为机器人专家提供了底层控制能力.展开更多
基金supported by the National Natural Science Foundation of China(61803357)。
文摘The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional navigation(PN) guidance law is proposed based on convex optimization. Decomposition of the three-dimensional space is carried out to establish threedimensional kinematic engagements. The constraints and the performance index are disposed by using the convex optimization method. PN guidance gains can be obtained by solving the optimization problem. This solution is more rapid and programmatic than the traditional method and provides a foundation for future online guidance methods, which is of great value for engineering applications.
文摘针对空间机器人的特点设计了多种遥操作控制模式,提出了空间机器人遥操作分层控制结构LATSR(Layered Architecture for Teleoperation of Space Robot),并研制了一套遥操作系统,包括任务规划子系统、主从控制子系统、预测仿真子系统、信息处理子系统和地面验证子系统.最后利用该系统开展了多项遥操作实验,对整个系统及各子系统的功能和性能进行了检验.该系统具有灵活的操作接口,既为一般用户提供了简便的用户界面,也为机器人专家提供了底层控制能力.
