조남훈 교수

The analytic solution for the time-to-go of the pure proportional navigation guidance law against a stationary target is derived considering full nonlinear engagement kinematics without near-collision course approximation. The solution is globally exact for all flying directions with respect to the target and is generally exact for all possible values of the guidance gain. The time-to-go solution is used to design an almost-globally asymptotically stable guidance law for intercepting a stationar

A new parameter estimation method is proposed in the framework of composite model reference adaptive control for improved parameter convergence without persistent excitation. The regressor filtering scheme is adopted to perform the parameter estimation with signals that can be obtained easily. A new framework for residual signal construction is proposed. The incoming data are first accumulated to build the information matrix, and then its quality is evaluated with respect to a chosen measure to

A three-dimensional nonlinear guidance law for path-following is proposed using differential geometry of space curves. The proposed guidance law makes a vehicle converge to and then follow a given desired path of general shape, which does not require strict restrictions on initial position and velocity. To take the advantages of the look-ahead effect for precise and robust path-following, the proposed guidance law takes the form of pure pursuit guidance, which is designed to align the velocity o

A reactive three-dimensional maneuver strategy for a multirotor Unmanned Aerial Vehicle (UAV) is proposed based on the collision cone approach to avoid potential collision with a single moving obstacle detected by an onboard sensor. A Light Detection And Ranging (LiDAR) system is assumed to be mounted on a hexacopter to obtain the obstacle information from the collected point clouds. The collision cone approach is enhanced to appropriately deal with the moving obstacle with the help of a Kalman

The augmented ideal proportional navigation guidance law is derived as the closed-loop nonlinear optimal feedback solution for maneuvering target interception. The derived guidance law minimizes a performance index that is similar to the range-weighted control energy of relative motion. The optimal solution is obtained without any linearization of the engagement kinematics or assumption of a near-collision course condition. A method to implement the optimal guidance solution for a constant-speed

This study presents a method to adjust the waypoints of an unpowered air vehicle to compensate for the influence of wind on the trajectory. A framework combining preflight waypoint planning and inflight waypoint adjustment is proposed. In the offline planning phase, optimal trajectories under various wind profile combinations are generated by using a direct optimization method. Waypoints are extracted from the obtained trajectories for each wind condition. Then, deviations of each waypoint due t

The capability to control the time of arrival at a goal position as desired endows a single vehicle or a coalition of many of them with the strategic advantage to perform time-critical missions. Arrival time coordination can be used as an element to solve multi-agent, multidepot routing and task planning problems in cooperative unmanned aerial robots. The tactic known as Salvo, which either designates or synchronizes the impact times across multiple missiles to enhance their collective survivabi

This study presents a novel extension to the theory of optimal guidance laws represented by the nontraditional class of performance indices: nonquadratic-type signal norm for the input weighted by an arbitrary positive function. Various missile guidance problems are generally formulated into a scalar terminal control problem based on the understanding of the predictor–corrector nature. Then, a new approach to derive the optimal feedback law, minimizing the nonquadratic performance index, is prop

This study presents a comprehensive analysis of biased proportional navigation guidance laws with variable gain in the bias command that achieve stationary target interception with a desired impact angle under the restriction of permissible look angle. More specifically, this study investigates the bias shaping approach, which takes the bias gain function given by a product of factors in range and look angle. The linear feedback and fractional power feedback of impact-angle error are considered

A three-dimensional nonlinear path-following guidance law is developed based on Lyapunov theory. If the closest projection point is taken as the moving reference point on the desired path, a singularity problem may occur when the vehicle passes through the center of curvature of the corresponding projection point. This singularity can be avoided by using a controller for the speed of the reference point. The geometric properties of the desired path and the desired approaching angle are described

This paper proposes an analytic approach for impact time control guidance laws against stationary targets using biased proportional navigation. The proposed guidance scheme realizes the impact time control in two different ways: the first approach directly uses the exact time-to-go error to satisfy both the impact time control and the field-of-view constraint, while the second approach adopts a look angle tracking law to indirectly control the impact time, with the reference profile of the look

This study presents major developments in relation to problem dimensionality and formulation generality, endowing the Schwarz-inequality-based approach for finite-horizon minimum effort control with an extended degree of applicability. The extension of the Schwarz inequality method is mainly based on considering the static Lagrange multiplier that combines multiple terminal constraint relations as a vector. The minimum effort cost including a positive definite weighting function is then shown to