引用本文:李晓宝,赵国荣,刘帅,等.考虑攻击角度和视场角约束的自适应终端滑模制导律[J].控制与决策,2020,35(10):2336-2344
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考虑攻击角度和视场角约束的自适应终端滑模制导律
李晓宝1, 赵国荣2, 刘帅1, 温家鑫1
(1. 海军航空大学岸防兵学院,山东烟台264001;2. 海军航空大学参谋部,山东烟台264001)
摘要:
针对导弹拦截机动目标的末制导问题,基于有限时间滑模控制理论设计一种带有攻击角度和导弹视场角约束的制导律.首先,将导弹末制导问题转化为带有状态约束的制导系统稳定问题,设计一种新型的非奇异终端滑模面和时变的障碍Lyapunov函数,给出一种终端滑模制导律的设计方法,并针对目标机动的不确定性设计一种对目标机动上界的自适应估计;然后,通过稳定性理论证明制导系统的状态变量最终是有限时间收敛的,并且结合时变的障碍Lyapunov函数和滑模面的设计特性证明在末制导过程中视场角约束条件始终不会被违背,相比于现有的考虑视场角约束的制导律,该制导律不存在指令转换,能够加快制导系统收敛速率,增强制导系统的抗干扰能力;最后,通过仿真实验验证所提出制导方法的有效性.
关键词:  制导律  攻击角度约束  视场角约束  非奇异终端滑模  障碍Lyapunov函数  有限时间收敛  自适应控制
DOI:10.13195/j.kzyjc.2019.0058
分类号:V448.133
基金项目:国家自然科学基金项目(61473306).
Adaptive terminal sliding mode guidance law with impact angle and field-of-view constraints
LI Xiao-bao1,ZHAO Guo-rong2,LIU Shuai1,WEN Jia-xin1
(1. School of Coast Defence,Naval Aviation University,Yantai 264001,China;2. University Staff,Naval Aviation University,Yantai 264001,China)
Abstract:
To solve the terminal guidance problem of missiles intercepting maneuvering targets, a guidance law with impact angle and field-of-view constraints is designed based on the finite-time sliding mode control theory. Firstly, the terminal guidance problem is transformed into the stability problem of the guidance system with state constraints. And, a new nonsingular terminal sliding mode surface and a time-varying barrier Lyapunov function are given, and a terminal sliding mode guidance law is proposed. In addition, an adaptive estimation of the upper bound of the target acceleration is designed for the uncertainty of the target maneuver. Then, the stability theory proves that the state variables of the guidance system are finally finite-time convergence, and field-of-view constraint will not be violated in the whole guidance process based on the design characteristics of the time-varying barrier Lyapunov function and sliding mode surface. Compared with the existing guidance laws considering field-of-view constraint, the guidance law has no command conversion, which can accelerate the convergence rate of the guidance system and enhance the robustness of the guidance system. Finally, simulation experiments verify the effectiveness of the guidance method.
Key words:  guidance law  impact angle constraint  field-of-view angle constraint  nonsingular terminal sliding mode  barrier Lyapunov function  finite-time convergence  adaptive control

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