Adaptive terminal sliding mode guidance law with impact angle constraint
-
摘要: 针对某些导弹在对目标进行打击时需要满足零脱靶量和攻击角度约束的要求,首先基于终端滑模控制和有限时间控制理论,改进了一种快速收敛的非奇异终端滑模函数,用于设计滑模面,结合自适应指数趋近律,提出了一种自适应非奇异终端滑模控制方法,解决了传统终端滑模控制中存在的奇异问题,并使状态变量在有限时间内快速收敛到平衡点。然后将所提方法用于导引律的设计,提出了一种带攻击角度约束的自适应非奇异和有限时间收敛导引律,实现了导弹对脱靶量和攻击角度约束的要求;采用有限时间控制理论对该导引律的收敛特性进行了分析,证明了制导系统状态的全局有限时间快速收敛特性。与传统的非奇异终端滑模导引律相比,本文所提导引律能够在更短的时间内以更小的脱靶量和更高精度的攻击角度对目标实施打击。最后进行了大量的对比仿真实验,仿真结果验证了所提导引律的有效性。Abstract: Aimed at the requirement of zero miss-distance and terminal impact angle constraint for some missiles attacking the targets, an adaptive nonsingular terminal sliding mode control algorithm based on the theories of terminal sliding mode control and finite-time control is proposed first. The algorithm avoids the singularity of terminal sliding mode control, and makes the state variables achieve the equilibrium point by improving a fast nonsingular terminal sliding mode function to construct the sliding mode surface, and employing an adaptive exponential reaching law. Then the algorithm is utilized to design the guidance law, and an adaptive nonsingular and finite-time convergent guidance law with impact angle constraint is proposed. Realizing the requirement of miss distance and attack angle of the missiles. Finite-time control theory is used to analyze the convergence of the guidance law, and proves the fast and finite-time convergence of guidance system states during the whole process. Compared with conventional nonsingular terminal sliding mode guidance law, the designed guidance law can attack the targets with less miss-distance and higher precision of expected impact angle in a shorter time. A large number of simulation experiments verify the validity of the proposed law.
-
[1] 蔡洪,胡正东,曹渊.具有终端角度约束的导引律综述[J].宇航学报,2010,31(2):315-323.CAI H,HU Z D,CAO Y.A survey of guidance law with terminal impact angle constraints[J].Journal of Astronautics,2010,31(2):315-323(in Chinese). [2] SONG T,SHIN S,CHO H.Impact angle control for planar engagements[J].IEEE Transactions on Aerospace and Electronic Systems,1999,35(4):1439-1444. [3] LEE C H,KIM T H,TAHK M J.Interception angle control guidance using proportional navigation with error feedback[J].Journal of Guidance,Control,and Dynamics,2013,36(5):1556-1561. [4] SONG J M,ZHANG T Q.Passive homing missile's variable structure proportional navigation with terminal angular constraint[J].Chinese Journal of Aeronautics,2001,14(2):83-87. [5] ZHOU D,QU P P,SUN S.A guidance law with terminal impact angle constraint accounting for missile autopilot[J].Journal of Dynamic Systems,Measurement,and Control,2013,135(5):051009. [6] 吴鹏,杨明.带终端攻击角度约束的变结构制导律[J].固体火箭技术,2008,31(2):116-120.WU P,YANG M.Variable structure guidance law with terminal attack angle constraint[J].Journal of Solid Rocket Technology,2008,31(2):116-120(in Chinese). [7] 穆朝絮,余星火,孙长银.非奇异终端滑模控制系统相轨迹和暂态分析[J].自动化学报,2013,39(6):902-908.MU C X,YU X H,SUN C Y.Phase trajectory and transient analysis for nonsingular terminal sliding mode control systems[J].Acta Automatica Sinica,2013,39(6):902-908(in Chinese). [8] ZHOU D,SUN S,TEO K L.Guidance law with finite time convergence[J].Journal of Guidance,Control,and Dynamics,2009,32(6):1838-1846. [9] KUMAR S R,RAO S,GHOSE D.Sliding-mode guidance and control for all-aspect interceptors with terminal angle constraints[J].Journal of Guidance,Control,and Dynamics,2012,35(4):1230-1246. [10] ZHANG Y X,SUN M W,CHEN Z Q.Finite-time convergent guidance law with impact angle constraint based on sliding-mode control[J].Nonlinear Dynamics,2012,7(3):619-625. [11] 张运喜,孙明玮,陈增强.滑模变结构有限时间收敛制导律[J].控制理论与应用,2012,29(11):1413-1418.ZHANG Y X,SUN M W,CHEN Z Q.Sliding mode variable structure finite-time convergence guidance law[J].Control Theory & Applications,2012,29(11):1413-1418(in Chinese). [12] FENG Y,YU X H,MAN Z H.Non-singular terminal sliding mode control of rigid manipulators[J].Automatica,2002,38(12):2159-2167. [13] ZHOU H B,SONG S M,XU M Y,et al.Design of terminal sliding-mode guidance law with attack angle constraint[C]//25th Chinese Control and Decision Conference.Piscataway,NJ:IEEE Press,2013:556-560. [14] KUMAR S R,RAO S,GHOSE D.Nonsingular terminal sliding mode guidance with impact angle constraints[J].Journal of Guidance,Control,and Dynamics,2014,37(4):1114-1130. [15] 赵霞,姜玉宪,吴云洁,等.基于多模态滑模的快速非奇异终端滑模控制[J].北京航空航天大学学报,2011,37(1):110-113.ZHAO X,JIANG Y X,WU Y J,et al.Fast nonsingular terminal sliding mode control based on multi-sliding-mode[J].Journal of Beijing University of Aeronautics and Astronautics,2011,37(1):110-113(in Chinese). [16] 刁兆师,单家元.带末端攻击角约束连续有限时间稳定制导律[J].宇航学报,2014,35(10):1141-1149.DIAO Z S,SHAN J Y.Continuous finite-time stabilization guidance law for terminal impact angle constrainted flight trajectory[J].Journal of Astronautics,2014,35(10):1141-1149(in Chinese). [17] HONG Y G.Finite-time stabilization and stabilizability of a class of controllable systems[J].Systems & Control Letters,2002,46(4):231-236. [18] YU S H,YU X H,SHIRINZADEH B Y,et al.Continuous finite-time control for robotics manipulators with terminal sliding mode[J].Automatica,2005,41(11):1957-1964.
点击查看大图
计量
- 文章访问数: 903
- HTML全文浏览量: 48
- PDF下载量: 684
- 被引次数: 0