摘要
针对多飞行器协同拦截机动目标的实际需求,提出一种三维领从时空协同制导律。在视线方向上,基于齐次度理论和固定时间稳定理论设计一种领从协同制导律,确保从飞行器与领飞行器的相对距离和相对速度在固定时间内趋于一致,并且给出一致性误差收敛时间的上界,实现多飞行器的同时刻拦截。在视线法向上为实现以特定的碰撞角度拦截目标,设计一种固定时间收敛的非奇异终端滑模制导律,实现攻击角度的固定时间收敛,并避免了制导指令奇异引起的控制饱和问题。考虑到目标的机动对制导系统产生的不利影响,引入固定时间扰动观测器对目标加速度进行前馈补偿。运用李雅普诺夫稳定性理论来证明系统的固定时间稳定特性。通过仿真实验验证所设计制导律可以有效控制多飞行器在领从框架下同时打击机动目标,并以期望的终端角度攻击目标。
In response to the actual need for coordinated interception of multiple flight vehicle targets,this paper presents a three-dimensional spatio-temporal coordinative guidance law.Firstly,a leader-follower cooperative guidance law is developed based on the homogeneity theory and the fixed-time stability theory.This law ensures that the relative distance and relative velocity between the follower and the leader converge to a consistent value within a fixed time,respoectively.Furthermore,an upper bound for the convergence time of consistency error is provided to enable the simultaneous interception of multiple flight vehicles.Secondly,a non-singular terminal sliding mode guidance law with fixed time convergence is proposed to intercept the target with a specific collision angle in the normal direction of the line of sight.This law achieves the fixed time convergence of attack angle and mitigates the control saturation problem caused by the singularity of guidance command.Additionally,a fixed-time disturbance observer is introduced to compensate for the effects of the target's maneuvering on the guidance system.This observer performs feedforward compensation for the target acceleration.Finally,the Lyapunov stability theory is employed to prove the fixed-time stability properties of the system.The simulated results show that the proposed guidance law can be used to effectively control multiple aircrafts to attack the maneuvering targets at the same time under the leader-follower framework,and attack the targets at the desired terminal angle.
作者
王伟
于之晨
林时尧
杨婧
王宏
WANG Wei;YU Zhichen;LIN Shiyao;YANG Jing;WANG Hong(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;China-UAE Belt and Road Joint Laboratory on Intelligent Unmanned System,Beijing Institute of Technology,Beijing 100081,China;China Academy of Ordnance Science,Beijing 100089,China;Northwest Industries Group Company Ltd.,Xi'an 710043,Shaanxi,China)
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2024年第10期3538-3554,共17页
Acta Armamentarii
基金
国家自然科学基金项目(52272358、62103052)。
关键词
领从式协同制导
时间空间角度约束
固定时间一致性
状态观测器
机动目标
leader-follower cooperative guidance
time-space angle constraint
fixed time consistency
state observer
maneuvering target
