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A nonlinear terrain following(TF) and terrain avoidance(TA) controller is proposed for missile control systems. Based on classical TF algorithm (adaptive angle method), a new method for TF controller is proposed by using angle of attack. A method of obtaining terrain outline data from digital elevation map (DEM) for TF control is discussed in order to save store space. A TA algorithm is proposed by using bank-to-turn technique. The block control model, which is suitable for backstepping design, is given for nonlinear model of missile. Making full use of the characteristics of the system and combining block control principle and backstepping technique, a robust controller design method is proposed. Uncertainties in every sub-block are allowed, and can be canceled by using the idea of nonlinear damping. It is proved that the state tracking errors are converged to a neighborhood of the origin exponentially. Finally, nonlinear six-degree-of-freedom simulation results for the missile model are presented to demonstrate the effectiveness of the proposed control law.  相似文献
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针对现存应急预案大都是文本形式预案,用于处理突发事件时指导性不强、指导作用不明显,提出基于案例推理(case based reasoning,CBR)与基于规则推理(rule based reasoning,RBR)相结合的方法。采用RBR方法,推理得出需要的应急预案,运用CBR方法,使用最近邻匹配方法从案例库中查找符合给定相似度的案例,并将2种方法相结合。结果表明:该方法能克服单独使用CBR时面临的无规则预案生成陷入困境及单独使用RBR时预案生成延时及规则建立难度大的瓶颈,兼容RBR极强的推理演绎能力和CBR建立与维护系统容易的优势,使生成应急预案更加高效可靠。  相似文献
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张春成 《兵工自动化》2011,30(4):64-66,80
针对超声探伤点云数据的特征,提出一种改进型的点云拓扑关系建立的算法。采用栅格法先对点云进行空间划分,然后在点所处附近栅格内进行邻域搜索。结果表明,与传统的算法相比,该算法能减少计算量,节省时间和内存,提高效率。  相似文献
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