Time-Cooperative Guidance with Impact Angle Constraint for Multiple Autonomous Underwater Vehicles

Xi Lu; Ningning Zhao; Jianan Yang; Yimin Chen; Jian Gao; Hui Fan

doi:10.1109/OCEANSLimerick52467.2023.10244281

Time-Cooperative Guidance with Impact Angle Constraint for Multiple Autonomous Underwater Vehicles

Xi Lu, Ningning Zhao, Jianan Yang, Yimin Chen, Jian Gao, Hui Fan

School of Marine Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper proposes a cooperative guidance law for multiple autonomous underwater vehicles reaching a moving target, which makes it possible to hit the target from both sides at a desired impact angle. An impact angle constraint is developed to control the impact angle of the leader, meanwhile, an additional control command is constructed to control the impact time of the followers. Based on the underwater vehicle kinematics and dynamics model, the decoupled three-channel attitude controller is also considered. Numerical simulations are conducted to verify the effectiveness and performances of the proposed method.

Original language	English
Title of host publication	OCEANS 2023 - Limerick, OCEANS Limerick 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350332261
DOIs	https://doi.org/10.1109/OCEANSLimerick52467.2023.10244281
State	Published - 2023
Event	2023 OCEANS Limerick, OCEANS Limerick 2023 - Limerick, Ireland Duration: 5 Jun 2023 → 8 Jun 2023

Publication series

Name	OCEANS 2023 - Limerick, OCEANS Limerick 2023

Conference

Conference	2023 OCEANS Limerick, OCEANS Limerick 2023
Country/Territory	Ireland
City	Limerick
Period	5/06/23 → 8/06/23

Keywords

guidance and control
Impact angle constraint
moving target
time-cooperative guidance

Access to Document

10.1109/OCEANSLimerick52467.2023.10244281

Cite this

Lu, X., Zhao, N., Yang, J., Chen, Y., Gao, J., & Fan, H. (2023). Time-Cooperative Guidance with Impact Angle Constraint for Multiple Autonomous Underwater Vehicles. In OCEANS 2023 - Limerick, OCEANS Limerick 2023 (OCEANS 2023 - Limerick, OCEANS Limerick 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANSLimerick52467.2023.10244281

@inproceedings{7ddeea161bac40ccb3e5386b358425da,

title = "Time-Cooperative Guidance with Impact Angle Constraint for Multiple Autonomous Underwater Vehicles",

abstract = "This paper proposes a cooperative guidance law for multiple autonomous underwater vehicles reaching a moving target, which makes it possible to hit the target from both sides at a desired impact angle. An impact angle constraint is developed to control the impact angle of the leader, meanwhile, an additional control command is constructed to control the impact time of the followers. Based on the underwater vehicle kinematics and dynamics model, the decoupled three-channel attitude controller is also considered. Numerical simulations are conducted to verify the effectiveness and performances of the proposed method.",

keywords = "guidance and control, Impact angle constraint, moving target, time-cooperative guidance",

author = "Xi Lu and Ningning Zhao and Jianan Yang and Yimin Chen and Jian Gao and Hui Fan",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 OCEANS Limerick, OCEANS Limerick 2023 ; Conference date: 05-06-2023 Through 08-06-2023",

year = "2023",

doi = "10.1109/OCEANSLimerick52467.2023.10244281",

language = "英语",

series = "OCEANS 2023 - Limerick, OCEANS Limerick 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "OCEANS 2023 - Limerick, OCEANS Limerick 2023",

}

Lu, X, Zhao, N, Yang, J, Chen, Y, Gao, J & Fan, H 2023, Time-Cooperative Guidance with Impact Angle Constraint for Multiple Autonomous Underwater Vehicles. in OCEANS 2023 - Limerick, OCEANS Limerick 2023. OCEANS 2023 - Limerick, OCEANS Limerick 2023, Institute of Electrical and Electronics Engineers Inc., 2023 OCEANS Limerick, OCEANS Limerick 2023, Limerick, Ireland, 5/06/23. https://doi.org/10.1109/OCEANSLimerick52467.2023.10244281

Time-Cooperative Guidance with Impact Angle Constraint for Multiple Autonomous Underwater Vehicles. / Lu, Xi; Zhao, Ningning; Yang, Jianan et al.
OCEANS 2023 - Limerick, OCEANS Limerick 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (OCEANS 2023 - Limerick, OCEANS Limerick 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Time-Cooperative Guidance with Impact Angle Constraint for Multiple Autonomous Underwater Vehicles

AU - Lu, Xi

AU - Zhao, Ningning

AU - Yang, Jianan

AU - Chen, Yimin

AU - Gao, Jian

AU - Fan, Hui

PY - 2023

Y1 - 2023

N2 - This paper proposes a cooperative guidance law for multiple autonomous underwater vehicles reaching a moving target, which makes it possible to hit the target from both sides at a desired impact angle. An impact angle constraint is developed to control the impact angle of the leader, meanwhile, an additional control command is constructed to control the impact time of the followers. Based on the underwater vehicle kinematics and dynamics model, the decoupled three-channel attitude controller is also considered. Numerical simulations are conducted to verify the effectiveness and performances of the proposed method.

AB - This paper proposes a cooperative guidance law for multiple autonomous underwater vehicles reaching a moving target, which makes it possible to hit the target from both sides at a desired impact angle. An impact angle constraint is developed to control the impact angle of the leader, meanwhile, an additional control command is constructed to control the impact time of the followers. Based on the underwater vehicle kinematics and dynamics model, the decoupled three-channel attitude controller is also considered. Numerical simulations are conducted to verify the effectiveness and performances of the proposed method.

KW - guidance and control

KW - Impact angle constraint

KW - moving target

KW - time-cooperative guidance

UR - http://www.scopus.com/inward/record.url?scp=85173721755&partnerID=8YFLogxK

U2 - 10.1109/OCEANSLimerick52467.2023.10244281

DO - 10.1109/OCEANSLimerick52467.2023.10244281

M3 - 会议稿件

AN - SCOPUS:85173721755

T3 - OCEANS 2023 - Limerick, OCEANS Limerick 2023

BT - OCEANS 2023 - Limerick, OCEANS Limerick 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 OCEANS Limerick, OCEANS Limerick 2023

Y2 - 5 June 2023 through 8 June 2023

ER -

Time-Cooperative Guidance with Impact Angle Constraint for Multiple Autonomous Underwater Vehicles

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