Journal of Shanghai Jiaotong University ›› 2017, Vol. 51 ›› Issue (12): 1473-1479.doi: 10.16183/j.cnki.jsjtu.2017.12.010

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Differential Game Trajectory Optimization Based on Receding Horizon Control for Multiple Constraints Tracking Systems with Additive Disturbance

CHENG Ruifeng1,LIU Weidong1,GAO Li’e1,KANG Zhiqiang2   

  1. 1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China; 2. School of Mechanical Engineering, Xi’an University of Architecture and Technology, Xi’an 710072, China
  • Online:2017-11-30 Published:2017-11-30

Abstract: The problem of underwater tracking with multiple constraints in the complex ocean environment is formulated as a nonlinear differential games based on receding horizon control. The tracking relative motion model of underwater tracking is established using the agent homing detection information, on which the process constraints are developed. Using the relative motion information as state variable, the differential games model is obtained by analyzing the tracking characteristics. The nonlinear differential games tracking guidance law based impact angle constrain is derived from the underwater multiple constraints tracking systems with additive disturbance by the implementation of zero efficiency control and rolling prediction algorithm. The simulation results show that the guidance law has high time efficiency and strong robustness, which can resist the interference and adjust the constraints in real time.

Key words: differential game, receding horizon control, tracking, trajectory optimization

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