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1.
This paper proposes an optimal three-dimensional (3-D) spatial-temporal cooperative guidance (STCG) law for intercepting a maneuvering target with impact angle and time constraints. The guidance problem is studied to achieve spatial cooperation for multi-directional attack in the normal channel and temporal cooperation for simultaneous interception in the tangential channel, respectively. Firstly, the 3-D optimal impact-angle-control guidance (OIACG) is introduced to formulate spatial interception geometry. Based on this law, the relative trajectory length is analytically derived and an accurate time-to-go predictor is formulated against maneuvering targets. In the tangential channel, an optimal temporal cooperative guidance is proposed by leveraging high-dimensional Schwarz inequality method. The proposed algorithm is believed to outperform the existing nonlinear cooperative guidance laws due to its optimality with specific performance index for minimizing the control expenditure. The convergence properties of the proposed STCG law are provided to facilitate its practical implementation. Comparison simulations and application under the realistic pursuer model and target estimation are performed to demonstrate the effectiveness and robustness of the proposed cooperative method.  相似文献   

2.
This paper considers the simultaneous attack of a stationary target by multiple missiles. A novel fixed-time distributed guidance law based on the proportional navigation (PN) guidance law is designed by integrating a consistent control technique into the guidance strategy. This guarantees that the time-to-go of the missile becomes consistent. The guidance law adopts a discrete design, and a compensation item driven by normal acceleration is added to tangential acceleration. This eliminates the potential singularity problem when the heading angle is zero before the consistency is obtained, and thus the multiple missile system still converges in fixed time. In addition, the proposed guidance law can be applied to both undirected and directed graphs. Furthermore, two improved guidance laws are proposed to improve the robustness of the system against adverse effects caused by input delays and topology switching failures and to provide a theoretical proof. Finally, a simulation is used to verify the performance of the distributed guidance law and its robustness against the above failures.  相似文献   

3.
In order to improve the flexibility and reduce the energy consumption of cooperative guidance laws considering the impact angle constraint, this paper proposes a three-dimensional event-triggered fixed-time cooperative guidance law with the constraint of relative impact angles. First, for the purpose of avoiding the precision degradation due to the estimation error of time-to-go especially facing a maneuvering target, the range-to-go and velocity along the line-of-sight (LOS) are taken as the coordination variables for achieving time-cooperative guidance. Secondly, instead of assigning specific desired impact angles for each missile, only the consensus errors of relative impact angles are utilized as the coordination variables for achieving space-cooperative guidance, which can avoid continually maneuvering for maintaining the constant desired impact angles, thus reducing the fuel consumption. Next, the guidance laws along the LOS and perpendicular to the LOS are developed, and the event-triggering mechanisms are designed to reduce the update frequency of cooperative guidance commands, thus further reducing the energy consumption. To guarantee the convergence rate, the fixed-time control theory is adopted and the stability of proposed event-triggered cooperative guidance laws are rigorously proved. In addition, it is also proved that there is no Zeno behavior when implementing the proposed event-triggered cooperative guidance laws. Finally, numerical simulations indicate that the strictly simultaneous attack is achieved and the constraint of relative impact angles is satisfied. Comparative studies demonstrate that the computation burden of cooperative guidance commands is relaxed and the fuel consumption is reduced by the proposed event-triggered cooperative guidance laws with the constraint of relative impact angles.  相似文献   

4.
A modified cooperative proportional navigation guidance law   总被引：1，自引：0，他引：1  
In Jeon et al. (2010), a cooperative PNG (Proportional Navigation Guidance) law was proposed to achieve the salvo attack using multiple missiles. When the leading angle is near zero, singularity would occur, and the cooperation may fail. In this paper, a modified cooperative guidance law is presented to avoid such singularity existing in the guidance law in Jeon et al. (2010). The time-to-go control efficiency under small leading angle is also improved in this paper. The convergence of times-to-go to the same value using the proposed guidance law is guaranteed by the Lyapunov stability analysis. Simulation results show the effectiveness of the modified guidance law and the improved performance.  相似文献   

5.
In this paper, an impact angle control guidance (IACG) law with predefined convergence time and seeker’s field-of-view (FOV) limit is proposed in three-dimensional (3D) scenario. First, a predefined-time error dynamic is developed whose significance is revealed by comparison with conventional methods. Second, based on coupled engagement dynamics, a 3D predefined-time IACG law is derived by applying the proposed error dynamic. To tackle the FOV limit, two auxiliary functions are introduced into the IACG law. The robustness against disturbances and uncertainties is further improved by utilizing the terminal sliding mode technique. With the proposed guidance law, the impact-angle error can converge to zero exactly at a tunable predefined time. Finally, the effectiveness and performance of the proposed IACG law are shown by several simulations with comparative study.  相似文献   

6.
In this paper, for three-dimensional interception of multiple missiles on a maneuvering target, a prescribed-time salvo attack guidance scheme with impact angle constraints and impact time constraint is investigated. The target accelerations are estimated accurately by a prescribed-time extended state observer. With the proposed guidance scheme, it ensures the LOS angles converge to desired values within a predetermined convergence time, and achieves salvo attack at a predetermined impact time. Prescribed-time convergency is shown for the proposed observer and controllers. Finally, the validity of the proposed guidance scheme is verified through numerical simulation.  相似文献   

7.
To realize the terminal acceleration constraint for a bias proportional navigation guidance law without usage of switching logics, this paper proposes a modified bias term and presents a terminal acceleration constrained bias proportional navigation guidance law against maneuvering targets. First, a so-called virtual planar coordinates whose origin is attached to the point mass of the target is built, so that the original maneuvering target is transformed to a virtual stationary target. On this basis, the common structure of bias proportional navigation guidance law is presented. To realize the terminal acceleration constraint, a modified bias term related to the relative distance between target and missile is used to improve the bias proportional navigation guidance law. With the virtual look angle and the line-of-sight angle constrained, the proposed modified bias proportional navigation guidance law can intercept the maneuvering targets in a desired attack angle. Comparisons with the optimal guidance law in the linear system are carried out, and the proposed law is proved to be near-optimal. The numerical simulation results demonstrate the all-aspect interception capability of the proposed law against maneuvering targets.  相似文献   

8.
《Journal of The Franklin Institute》2022,359(18):10392-10419
This paper proposes a high-precision three-dimensional nonlinear optimal computational guidance law in the terminal phase of an interceptor that ensures near-zero miss-distance as well as the desired impact angle. Additionally, it achieves these ambitious objectives while ensuring that the lead angle and lateral acceleration constraints are not violated throughout its trajectory. This ensures (i) the target does not escape the field of view of its seeker at any point in time (a state constraint) and (ii) it does not demand unreasonable lateral acceleration that cannot be generated (a control constraint). The guidance problem is formulated and solved using newly proposed Path-constrained Model Predictive Static Programming (PC-MPSP) framework. All constraints, both equality and inequality, are equivalently represented as linear constraints in terms of the errors in the control history, thereby reducing the complexity and dimensionality of the problem significantly. Coupled with a quadratic cost function in control, the problem is then reduced to a standard quadratic optimization problem with linear constraints, which is then solved using the computationally efficient interior-point method. Results clearly demonstrate the advantage of the proposed guidance scheme over the conventional Biased PN as well as the recently proposed GENeralized EXplicit (GENEX) guidance techniques. Numerical simulations with variation in initial conditions and Monte–Carlo simulations with parametric uncertainty demonstrate the robustness of the proposed guidance scheme.  相似文献   

9.
The problem of cooperative guidance is considered with appointed impact time and collision avoidance for the leader-following flight vehicles, which consist of one leader with the target seeker and the other seeker-less followers. A fixed-time convergent guidance law is presented for the leader to achieve appointed impact time. To guarantee the simultaneous arrival of all the flight vehicles, a cooperative guidance law is proposed to make the follower-leader ranges keep proportional consensus with the range-to-go of leader. A distributed observer is put forward for the followers to estimate the range-to-go of leader. Moreover, the collision avoidance can be reliably fulfilled by the collaborative action of the direction-based and distance-based means.  相似文献   

10.
This paper proposes a finite-time command filtered backstepping guidance law (FCFBGL) with the terminal angle constraint while accounting for the input saturation and the autopilot dynamics. To eliminate the adverse effect induced by the filtering errors and the acceleration saturation, a new finite-time error compensation mechanism is integrated in the guidance law design. The proposed FCFBGL not only guarantees the the line-of-sight (LOS) angle error to converge to a small neighborhood of the origin in finite time but also achieves the continuity of the input signal. in finite time. Moreover, with the aid of the fractional power extended state observer (FPESO), the proposed FCFBGL requires no information on the target acceleration and the acceleration derivative of the missile, which is preferable in the practical application. The finite-time stability of the proposed guidance law is derived with the Lyapunov methodology. Simulation results illustrate the effectiveness and superiority of the proposed guidance law.  相似文献   

11.
In this paper, a guidance scheme for impact angle control against maneuvering targets with unknown target acceleration is proposed. In this scheme, the unknown target acceleration is estimated via a linear extended state observer; a novel time-varying global slide mode control technique is presented to eliminate the reaching phase and enforce a desired impact angle exactly at the time of interception with finite-time convergence, good robustness, high precision and smooth guidance command. Moreover, feasible guidance logics are developed to achieve all-aspect interception with the tolerance of large initial heading errors. Numerical simulations in various scenarios are performed to verify the performance of the proposed guidance scheme.  相似文献   

12.
An Impact Angle, Speed and Acceleration Control Guidance (IASAG) law against the stationary target is proposed, which is critical for the effectiveness of the air-to-surface guided weapons. It is hard to address multiple terminal constraints problem for unpowered missile, especially including terminal speed constraint, which is uncontrollable state. Based on Line-of-Sight (LOS) angle, a fourth-order polynomial function is designed to make the number of coefficients of the function equal to number of boundary conditions. Through analytic calculation and transformation, the relation between the specified boundary conditions and the coefficients are established. The coefficient equations are reduced to a univariate nonlinear equation whose solution is determined by terminal speed constraint. Based on the characteristic of the nonlinear equation, we propose a Particle Swarm Optimization(PSO) method to find the coefficient that satisfies terminal speed constraint. According to Lyapunov stability theory, an asymptotically stable trajectory tracking controller is designed to track the reference leading angle with respect to range-to-go to guarantee the impact angle, speed and acceleration constraints. The effectiveness of the proposed guidance law is verified through numerical simulations.  相似文献   

13.
The problem of a grouped multiple missiles cooperative attack on multiple high maneuvering targets with a limited driving force is achieved by an anti-saturation fixed-time grouped cooperative guidance (FxTCG) law based on a sliding mode fixed-time disturbance observer (SM-FxTDO) in this study. First, the state estimation of each high maneuvering target within a fixed time is achieved by designing a sliding mode fixed-time disturbance observer. Second, the group cooperative guidance law is designed by using fixed-time theory, which can ensure the group consensus of multiple missiles strike times within a fixed time under the condition of input saturation. Then, the fixed time stability of the multi-missiles system is proven by using the bi-limit homogeneous theory and the Lyapunov function. Finally, the simulation results show the superiority of the designed observer and cooperative guidance law. The proposed observer can more effectively and accurately estimate the state of the high maneuvering target than the ESO. The proposed cooperative guidance law expands the number of attack targets and makes each group of multiple missiles attack the corresponding high maneuvering target under the conditions of an input saturation within a fixed time compared to the single-target cooperative law.  相似文献   

14.
This paper investigates entry guidance of a capsule for pinpoint landing on Mars. In this scenario, the capsule is subject to the external disturbances caused by the atmosphere that can result in control saturation, and then undesired landing errors. To this end, a new guidance scheme to satisfy entry constraints, high-accuracy landing at high elevation sites, is proposed. The technical contributions of this work are two-fold: first, in order to mitigate the effects caused by large disturbance, a function describing the joint constraints of bank angle and slacked height is proposed; based on the nonlinear model predictive control (NMPC), a new algorithm is developed, where the constraints of dynamics, bank angle, slacked height, are sufficiently considered and precisely modeled; second, a state-space observer to improve the prediction of disturbance is introduced, which can significantly improve the accuracy of landing performance. The numerical simulations show the feasibility and validity of the proposed scheme.  相似文献   

15.
Strap-down seeker is rigidly fixed onto the missile body, which results in detection information being coupled to the missile’s attitude and having a narrow field-of-view (FOV). During the terminal guidance flight, attitude adjustment of the missile may lose the target’s lock and reduce interception accuracy. Therefore, this paper investigates three-dimensional integrated guidance and control (IGC) under the constraints of the FOV and roll angle for skid-to-turn (STT) missile with strap-down seeker. A new low-order IGC model is constructed by establishing a second-order model of body line-of-sight (BLOS) angle based on strap-down decoupling theory and combining it with the second-order roll angle equation. Furthermore, a low-order fixed-time IGC scheme is developed using the integral barrier Lyapunov function (iBLF) to limit BLOS and roll angles. Fixed-time filter, which avoids the “complexity explosion” caused by conventional back-stepping technique, is utilized for obtaining virtual control command and its derivative. A fixed-time disturbance observer is introduced to compensate for the lumped disturbance. According to Lyapunov stability theory, it is proven that the proposed IGC scheme can make the closed-loop system converge within a fixed time. Finally, the effectiveness and robustness of the IGC scheme are verified by various numerical simulations.  相似文献   

16.
In the 3-D path planning, the undulation of terrain have a significant impact on the roll angle of autonomous vehicle (AV). However, the existing 3-D path planning methods rarely consider the roll angle, which may lead to the rollover of AV. To solve this problem, a 3-D path planning system considering the rollover and path length (3DPPS-CRPL) is presented in this work. The 3DPPS-CRPL can plan a shorter path on the basis of inhibiting the roll angle of AV. In order to inhibit the roll angle, a novel roll angle evaluation model based on the undulation of terrain is developed, and the amount of computation is also greatly reduced because complex dynamics is avoided. In order to optimize the path length, both 2-D and 3-D path length are evaluated synthetically by a path length evaluation model. In order to optimize the parameters of 3DPPS-CRPL, a fuzzy-based optimizer is proposed to determine the weight of roll angle and path length. The simulation results prove that 3DPPS-CRPL has excellent performance for inhibiting roll angle and optimizing the path length in 3-D environment.  相似文献   

17.
This paper investigates an adaptive prescribed performance control strategy with specific time planning for trajectory tracking of robotic manipulator subject to input constraint and external disturbances. By constructing an accumulated error vector embedded with a performance enhancement function and introducing an input auxiliary function, a specified-time control framework with built-in prescribed performance is further designed to ensure that the trajectory tracking performance. More particularly, the proposed control law is compatible with the control input saturation suppression algorithm, which is capable of improving the robustness of closed loop system. Under the framework of the proposed control strategy, it is proved by theory that all the signals in the closed-loop system are bounded, and moreover the tracking error can reach the exact convergence domain in a given time. At last, a numerical example is presented to indicate the feasibility and effectiveness of the proposed method.  相似文献   

18.
An exo-atmospheric interception scenario between an accelerating missile and its target is investigated. It is assumed that the maneuvering acceleration is obtained by instantaneous rotation of the missile's body to the required attitude. Two different guidance laws are derived for such an interceptor using the sliding mode control methodology. The difference is in the definition of the sliding surface enforcing different trajectories for the interceptor. It is shown that if this surface is chosen as the zero-effort-miss of the well-known proportional navigation guidance law, then the missile is commanded to point its acceleration vector along the line-of-sight and consequently fly along a curved trajectory. For the second guidance law, a unique sliding surface is chosen enforcing the missile to fly on a straight line towards collision, after the initial heading error is nulled. The performance of the guidance laws is analyzed and compared using a nonlinear two dimensional simulation. It is shown that on top of enforcing a different flight geometry for the interceptor, the use of the new guidance to collision sliding mode guidance law can enhance the capture zone of the interceptor.  相似文献   

19.
This paper addresses the design of a sampled-data model predictive control (MPC) strategy for linear parameter-varying (LPV) systems. A continuous-time prediction model, which takes into account that the samples are not necessarily periodic and that plant parameters vary continuously with time, is considered. Moreover, it is explicitly assumed that the value of the parameters used to compute the optimal control sequence is measured only at the sampling instants. The MPC approach proposed by Kothare et al. [1], where the basic idea consists in solving an infinite horizon guaranteed cost control problem at each sampling time using linear matrix inequalities (LMI) based formulations, is adopted. In this context, conditions for computing a sampled-data stabilizing LPV control law that provides a guaranteed cost for a quadratic performance criterion under input saturation are derived. These conditions are obtained from a parameter-dependent looped-functional and a parameter-dependent generalized sector condition. A strategy that consists in solving convex optimization problems in a receding horizon policy is therefore proposed. It is shown that the proposed strategy guarantees the feasibility of the optimization problem at each step and leads to the asymptotic stability of the origin. The conservatism reduction provided by the proposed results, with respect to similar ones in the literature, is illustrated through numerical examples.  相似文献   

20.
This paper investigates the problem of sliding mode control (SMC) for discrete-time two-dimensional (2-D) systems subject to external disturbances. Given a 2-D Fornasini–Marchesini (FM) local state space model, attention is focused on designing the 2-D sliding surface and sliding mode controller, which guarantees the resultant closed-loop system to be asymptotically stable. Particularly, this problem is solved using the model transformation based method. First of all, sufficient conditions are formulated for the existence of a linear sliding surface guaranteeing the asymptotic stability of the equivalent sliding mode dynamics. Based on this, a sliding mode controller is synthesized to ensure that the associated 2-D FM system satisfies the reaching condition. The efficiency of the proposed 2-D SMC law design is shown by a numerical example. This paper extends the idea of model transformation to the 2-D systems and solves the SMC problem of a more general 2-D model in FM type for the first time.  相似文献   

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