Hierarchical target intercept fuzzy controller with forbidden zone
First Claim
1. In a hierarchial control system for guiding a steerable object from a launching vehicle toward a target in response to multiple goal control rules based upon signals from sensing means corresponding to bearings from the launching vehicle to the steerable object and to the target and from the steerable object to the target wherein said steerable object is characterized by a center point and by a guidance point externally of the steerable object and leading the steerable object as it moves toward the target, said hierarchial control system comprising:
- first error means for generating first sensed variable signals in response to the signals from said sensing means indicating the location of the steerable object with respect to a zone about a line between the launching vehicle and the target;
second error means for generating second sensed variable signals in response to the signals from said sensing means indicating whether the bearing from the guidance point to the target is varying with time;
sensed variable means for converting the first and second sensed variable signals into corresponding first and second sensed linguistic variables using corresponding first and second sensed variable membership functions;
control output means for producing a command signal for guiding the steerable object from the launching vehicle toward the target in response to the selection of a control output membership function; and
multi-goal rule based means interposed between said sensed variable means and said control output means for selecting said control output membership function in accordance with one of the competing multiple output control rules selected by said multi-goal rule based means in response to the first sensed variable membership functions.
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Abstract
A target intercept guidance system for directing a steerable object, such a torpedo with a guidance point. The guidance system is located at a launching vehicle and senses the bearings from the launching vehicle to a target and to the steerable object as it moves toward the target. Various error signals are then generated and classified into sensed linguistic variables using membership functions of corresponding sensed variable membership function sets based upon primary and secondary goals to become fuzzy inputs that produce fuzzy control output membership functions from a control output membership function set based upon logical manipulation of the fuzzy inputs. The control system performs this classification and selection according to sometimes competing goals of excluding the torpedo from a particular operating zone while guiding the torpedo in response to variations in a target bearing relative to the guidance point. The selected fuzzy control output membership functions are converted into an output having an appropriate form for control, subject to optional conditioning to prevent unwanted effects and assure good behavior for different tactical parameters.
42 Citations
34 Claims
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1. In a hierarchial control system for guiding a steerable object from a launching vehicle toward a target in response to multiple goal control rules based upon signals from sensing means corresponding to bearings from the launching vehicle to the steerable object and to the target and from the steerable object to the target wherein said steerable object is characterized by a center point and by a guidance point externally of the steerable object and leading the steerable object as it moves toward the target, said hierarchial control system comprising:
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first error means for generating first sensed variable signals in response to the signals from said sensing means indicating the location of the steerable object with respect to a zone about a line between the launching vehicle and the target; second error means for generating second sensed variable signals in response to the signals from said sensing means indicating whether the bearing from the guidance point to the target is varying with time; sensed variable means for converting the first and second sensed variable signals into corresponding first and second sensed linguistic variables using corresponding first and second sensed variable membership functions; control output means for producing a command signal for guiding the steerable object from the launching vehicle toward the target in response to the selection of a control output membership function; and multi-goal rule based means interposed between said sensed variable means and said control output means for selecting said control output membership function in accordance with one of the competing multiple output control rules selected by said multi-goal rule based means in response to the first sensed variable membership functions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. An iterative method for guiding a steerable object from a launching vehicle to a target in response to any of competing sets of multiple goal control rules based upon signals from sensing means corresponding to bearings from the launching vehicle to the steerable object and to the target and from the steerable object to the target wherein the steerable object is characterized by a center point and by a guidance point externally of the steerable object and leading the steerable object as it travels toward the target wherein each said iteration comprises the steps of:
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generating first sensed variable signals in response to the signals from the sensing means indicating the location of the steerable object with respect to a zone about a line between the launching vehicle and the target; generating second sensed variable signals in response to the signals from the sensing means indicating whether the bearing from the guidance point of the steerable object to the target is varying with time; retrieving first and second sensed linguistic variables in response to the first and second sensed variable signals, respectively; selecting at least one control output linguistic variable from a predetermined set of control output linguistic variables in response to the selected first or second sensed linguistic variables from the first set when the first sensed variable signals indicate that the steerable object is proximate or inside the predetermined zone and in response to the second set when the sensed variable signals indicate that the steerable object is outside the predetermined zone; generating a command signal for controlling the steerable object in response to a control output linguistic variables selection; and transferring the command signal to the steerable object. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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Specification