Showing papers by "Tal Shima published in 2023"

Virtual Target Approach for Emulating Advanced Guidance Laws on Conventional Interceptors

Abstract: This paper considers the problem of emulating an optimal impact-angle-control guidance law using a pursuer guided with proportional navigation by using a virtual target approach. Based on the choice of the lead distance to the virtual targets, two algorithms for the virtual target computation are presented. In the first, the lead distance is specified in advance, whereas in the second, it is optimized. The simulation results demonstrate that the proposed solution can achieve an accurate emulation of the reference guidance law.

Game Theoretic Approach for Robust Trajectory Tracking by a Multirotor

Abstract: In this article, the problem of precisely tracking a nominal trajectory by an under-actuated multirotor platform is formulated as a game against bounded external disturbances, measurement noise, and initial condition uncertainty. The nominal trajectory is composed of desired position and yaw angle, which is known to be a differentially flat output for the multirotor state dynamics. Using this property, a linearized error dynamics is obtained in the vicinity of the nominal trajectory. Using the linearized error dynamics, a linear-quadratic differential game approach is used to propose an integrated estimation and control method for trajectory tracking. A salient feature of this approach is that the drag coefficients are estimated online from the information of the tracking error. Moreover, there are only six parameters to be tuned for both estimation and control loops. The intuitive rationale behind the tuning of these parameters is also discussed. Simulations as well as experimental validations are presented to demonstrate the performance and applicability of the controllers.