Pursuit-evasion differential games using the Disturbance Attenuation approach are revisited. Under this approach, pursuer actions considered to be control actions, whereas all external such as target maneuvers, measurement errors and initial position uncertainties, disturbances. Two open issues have been addressed, namely effect of noise on gains, trajectory shaping solution. These closely rela...

A dual neural network ‘adaptive critic approach’ is used in this study to generate midcourse guidance commands for a missile to reach a predicted impact point while maximizing its final velocity. The adaptive critic approach is based on approximate dynamic programming. The first network, called a ‘critic’, network, outputs the Lagrangian multipliers arising in an optimal control formulation whi...

In this paper, a Time-to-go Polynomial Guidance (TPG) law satisfying impact angle constraints for missiles of time-varying velocity against stationary target is investigated. The guidance law assumes the magnitude of guidance commands as a polynomial function of time-to-go with two unknown coefficients. The coefficients are determined to satisfy the two terminal constraints, which are the termi...

The majority of homing guided missiles use gimbaled seekers. The equations describing seeker gimbal system are highly nonlinear. Accurate nonlinear control of the motion of the gimbaled seeker through the attached DC motors is required. In this paper, an online technique for finite-horizon nonlinear tracking problems is presented. The idea of the proposed technique is the change of variables th...

This paper describes our research work towards the development of an optical guidance system for multiple mobile robots in an indoor environment. The guidance system operates with an environmental model, communicates with mobile robots and indicates their target positions by means of a light projection from a laser pointer onto the ground. Processing the image data from a CCD color camera mount...

Direct methods for trajectory optimization are traditionally based on a priori temporal discretization and collocation methods. In this work, the problem of node distribution is formulated as an optimization problem, which is to be included in the underlying non-linear mathematical programming problem (NLP). The benefits of utilizing the suggested method for on-line trajectory optimization are ...