In order to simultaneously attack a target with impact angle constraint in threedimensional(3-D) space, a novel distributed cooperative guidance law for multiple missiles under directed communication topologies is pro...In order to simultaneously attack a target with impact angle constraint in threedimensional(3-D) space, a novel distributed cooperative guidance law for multiple missiles under directed communication topologies is proposed without radial velocity measurements. First, based on missiles-target 3-D relative motion equations, the multiple missiles cooperative guidance model with impact angle constraint is constructed. Then, in Line-of-Sight(LOS) direction, based on multiagent system cooperative control theory, one guidance law with directed topologies is designed with strict proof, which can guarantee finite time consensus of multiple missiles' impact times. Next, in elevation direction and azimuth direction of LOS, based on homogeneous system stability theory and integral sliding mode control theory, two guidance laws are proposed respectively with strict proof, which can guarantee LOS angles converge to desired values and LOS angular rates converge to zero in finite time. Finally, the effectiveness of the designed cooperative guidance law is demonstrated through simulation results.展开更多
Sliding mode guidance laws based on a conventional terminal sliding mode guarantees only finite-time convergence, which verifies that the settling time is required to be estimated by selecting appropriate initial laun...Sliding mode guidance laws based on a conventional terminal sliding mode guarantees only finite-time convergence, which verifies that the settling time is required to be estimated by selecting appropriate initial launched conditions. However, rapid convergence to a desired impact angle within a uniform bounded finite time is important in most practical guidance applications. A uniformly finite-time/fixed-time convergent guidance law means that the convergence（settling） time is predefined independently on initial conditions, that is, a closed-loop convergence time can be estimated a priori by guidance parameters. In this paper, a novel adaptive fast fixed-time sliding mode guidance law to intercept maneuver targets at a desired impact angle from any initial heading angle,with no problems of singularity and chattering, is designed. The proposed guidance law achieves system stabilization within bounded settling time independent on initial conditions and achieves more rapid convergence than those of fixed-time stable control methods by accelerating the convergence rate when the system is close to the origin. The achieved acceleration-magnitude constraints are rigorously enforced, and the chattering-free property is guaranteed by adaptive switching gains.Extensive numerical simulations are presented to validate the efficiency and superiority of the proposed guidance law for different initial engagement geometries and impact angles.展开更多
为实现导弹以一定落角攻击装甲车辆等地面移动目标,应用变结构控制理论,推导基于偏置比例导引的落角约束滑模制导律,并基于李雅普诺夫稳定性理论设计了参数自适应的幂次趋近律。考虑目标速度难以测量的问题,引入扩张状态观测器(extended...为实现导弹以一定落角攻击装甲车辆等地面移动目标,应用变结构控制理论,推导基于偏置比例导引的落角约束滑模制导律,并基于李雅普诺夫稳定性理论设计了参数自适应的幂次趋近律。考虑目标速度难以测量的问题,引入扩张状态观测器(extended states observer,ESO)对目标速度进行估计。仿真结果表明,所设计的制导律能够以要求的落角准确打击静止目标与机动目标,且需用法向过载和命中点附近的法向过载较小,弹道后段较为平直。展开更多
An integral sliding mode guidance law(ISMGL)combined with the advantages of the integral sliding mode control(SMC)method is designed to address maneuvering target interception problems with impact angle constraints.Th...An integral sliding mode guidance law(ISMGL)combined with the advantages of the integral sliding mode control(SMC)method is designed to address maneuvering target interception problems with impact angle constraints.The relative motion equation of the missile and the target considering the impact angle constraint is established in the longitudinal plane,and an integral sliding mode surface is constructed.The proposed guidance law resolves the existence of a steady-state error problem in the traditional SMC.Such a guidance law ensures that the missile hits the target with an ideal impact angle in finite time and the missile is kept highly robust throughout the interception process.By adopting the dynamic surface control method,the ISMGL is designed considering the impact angle constraints and the autopilot dynamic characteristics.According to the Lyapunov stability theorem,all states of the closed-loop system are finally proven to be uniformly bounded.Simulation results are compared with the general sliding mode guidance law and the trajectory shaping guidance law,and the findings verify the effectiveness and superiority of the ISMGL.展开更多
基金supported by the National Natural Science Foundation of China(Nos.61603114,61673135)
文摘In order to simultaneously attack a target with impact angle constraint in threedimensional(3-D) space, a novel distributed cooperative guidance law for multiple missiles under directed communication topologies is proposed without radial velocity measurements. First, based on missiles-target 3-D relative motion equations, the multiple missiles cooperative guidance model with impact angle constraint is constructed. Then, in Line-of-Sight(LOS) direction, based on multiagent system cooperative control theory, one guidance law with directed topologies is designed with strict proof, which can guarantee finite time consensus of multiple missiles' impact times. Next, in elevation direction and azimuth direction of LOS, based on homogeneous system stability theory and integral sliding mode control theory, two guidance laws are proposed respectively with strict proof, which can guarantee LOS angles converge to desired values and LOS angular rates converge to zero in finite time. Finally, the effectiveness of the designed cooperative guidance law is demonstrated through simulation results.
基金supported in part by the National Natural Science Foundation of China (Nos.11202024,11572036)
文摘Sliding mode guidance laws based on a conventional terminal sliding mode guarantees only finite-time convergence, which verifies that the settling time is required to be estimated by selecting appropriate initial launched conditions. However, rapid convergence to a desired impact angle within a uniform bounded finite time is important in most practical guidance applications. A uniformly finite-time/fixed-time convergent guidance law means that the convergence（settling） time is predefined independently on initial conditions, that is, a closed-loop convergence time can be estimated a priori by guidance parameters. In this paper, a novel adaptive fast fixed-time sliding mode guidance law to intercept maneuver targets at a desired impact angle from any initial heading angle,with no problems of singularity and chattering, is designed. The proposed guidance law achieves system stabilization within bounded settling time independent on initial conditions and achieves more rapid convergence than those of fixed-time stable control methods by accelerating the convergence rate when the system is close to the origin. The achieved acceleration-magnitude constraints are rigorously enforced, and the chattering-free property is guaranteed by adaptive switching gains.Extensive numerical simulations are presented to validate the efficiency and superiority of the proposed guidance law for different initial engagement geometries and impact angles.
文摘为实现导弹以一定落角攻击装甲车辆等地面移动目标,应用变结构控制理论,推导基于偏置比例导引的落角约束滑模制导律,并基于李雅普诺夫稳定性理论设计了参数自适应的幂次趋近律。考虑目标速度难以测量的问题,引入扩张状态观测器(extended states observer,ESO)对目标速度进行估计。仿真结果表明,所设计的制导律能够以要求的落角准确打击静止目标与机动目标,且需用法向过载和命中点附近的法向过载较小,弹道后段较为平直。
基金supported by the Joint Equipment Fund of the Ministry of Education(6141A02022340)
文摘An integral sliding mode guidance law(ISMGL)combined with the advantages of the integral sliding mode control(SMC)method is designed to address maneuvering target interception problems with impact angle constraints.The relative motion equation of the missile and the target considering the impact angle constraint is established in the longitudinal plane,and an integral sliding mode surface is constructed.The proposed guidance law resolves the existence of a steady-state error problem in the traditional SMC.Such a guidance law ensures that the missile hits the target with an ideal impact angle in finite time and the missile is kept highly robust throughout the interception process.By adopting the dynamic surface control method,the ISMGL is designed considering the impact angle constraints and the autopilot dynamic characteristics.According to the Lyapunov stability theorem,all states of the closed-loop system are finally proven to be uniformly bounded.Simulation results are compared with the general sliding mode guidance law and the trajectory shaping guidance law,and the findings verify the effectiveness and superiority of the ISMGL.
