带视线角约束的三维超螺旋滑模协同制导律

doi:10.12305/j.issn.1001-506X.2023.07.25

Abstract

Abstract:

In view of the problem of three-dimensional multi-missile cooperative guidance with line-of-sight angle constraint, a three-dimensional multi-missile cooperative guidance law is proposed based on second-order consensus theory and adaptive super-twisting sliding mode control method. In the line-of-sight direction, the relative distance and relative velocity of the missile will converge to consensus in finite time. In the elevation direction and azimuth direction of line-of-sight, this paper proves that the missile can achieve the desire line-of-sight angle and the line-of-sight angle rate converges to zero in finite time. The adaptive super-twisting sliding mode control method adopted can effectively solve the chattering problem of traditional sliding mode and be robust to maneuvering targets. Finally, the effectiveness of the designed cooperative guidance law is demonstrated in the simulation experiment through the comparative analysis.

Key words: cooperative guidance, consensus theory, super-twisting sliding mode, adaptive control

CLC Number:

V448.133

Jun YOU, Ke ZHANG, Zhiguo HAN, Tianxing CAI, Cheng ZHANG. Three-dimensional super-twisting slide mode cooperative guidance law with line-of-sight angle constraint[J]. Systems Engineering and Electronics, 2023, 45(7): 2138-2149.

Figures/Tables 23

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序号	x/m	y/m	z/m	v/(m/s)	θ/(°)	φ/(°)	q_εd/(°)	q_βd/(°)
导弹1	-3 000	20 000	-5 000	680	-10	-10	-15	-10
导弹2	0	20 000	5 000	680	-15	10	-23	10
导弹3	-2 000	20 000	1 000	680	-5	5	-18	0
导弹4	-1 000	20 000	-7 000	680	-5	-10	-25	-15
目标	20 000	8 000	0	200	0	0	-	-

编号	脱靶量/m	制导时间/s	高低角误差/(°)	方位角误差/(°)
导弹1(本文)	0.086 9	46.423 0	0.061 9	0.009 9
导弹2(本文)	0.533 8	46.422 0	0.026 9	0.014 9
导弹3(本文)	0.558 3	46.422 0	0.021 7	0.010 7
导弹4(本文)	0.246 2	46.422 0	0.042 2	0.013 6
导弹1([26])	0.020 0	48.303 0	0.163 5	0.032 2
导弹2([26])	0.409 5	48.302 0	0.035 5	0.055 7
导弹3([26])	0.574 2	48.302 0	0.034 8	0.036 3
导弹4([26])	0.554 8	48.302 0	0.032 7	0.049 0

编号	脱靶量/m	制导时间/s	高低角误差/(°)	方位角误差/(°)
导弹1(本文)	0.050 7	41.392 0	0.216 9	0.108 2
导弹2(本文)	0.287 2	41.402 0	0.184 2	0.168 1
导弹3(本文)	0.420 9	41.388 0	0.264 4	0.197 3
导弹4(本文)	0.359 9	41.383 0	0.171 5	0.095 2
导弹1([26])	0.239 3	41.701 0	0.411 7	0.003 2
导弹2([26])	0.398 2	41.716 0	0.431 9	0.573 3
导弹3([26])	0.457 8	41.696 0	0.301 7	0.347 5
导弹4([26])	0.019 7	41.691 0	1.027 7	0.036 0

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Three-dimensional super-twisting slide mode cooperative guidance law with line-of-sight angle constraint

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