考虑驾驶仪动态滞后的三维终端角约束制导律

doi:10.12305/j.issn.1001-506X.2025.12.26

Abstract

Abstract:

Addressing the dynamic lag and multi-constraint problems in the interception of high-maneuverability aircraft, a second-order system model for three-dimensional interception guidance is constructed, and a terminal angle constraint guidance law is proposed. A finite time convergent third-order disturbance observer is proposed to address disturbances caused by target maneuvering. The system model is treated as an “observer-controller” system, and a non-singular finite time convergent controller is proposed based on the theory of super-twisting sliding mode control. In addition, considering the dynamic response of the autopilot, the system model is extended to fourth order. Based on backstepping and dynamic surface control theory, the line-of-sight （LOS） angle errors and LOS angular rates are controlled within the neighborhood of zero, achieving precise interception of the target. Finally, the good performance of the proposed guidance law is verified through simulations in different scenarios.

Key words: super-twisting sliding mode control, terminal angle constraint, autopilot lag, disturbance observer, back-stepping design

CLC Number:

TJ 765

Zirui ZHANG, Jingyi MA, Jiang WANG, Shaobo ZHU. Three-dimensional terminal angle constraint guidance law considering autopilot dynamic lag[J]. Systems Engineering and Electronics, 2025, 47(12): 4143-4152.

Figures/Tables 11

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References 25

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参数类型	名称	取值
位置	$R$/m	20000
	${\theta _L}$/(°)	0
	${\phi _L}$/(°)	0
加速度	$ {a_{ty}} $/(m/s²)	$ 30\cos 2t $
加速度	$ {a_{tz}}$/(m/s²)	$ 30\cos 2t $

参数	下界	上界
$ {V_m}$/(m/s)	800	900
$ {V_t}$/(m/s)	600	700
${\theta _m}$/(°)	5	10
${\phi _m}$/(°)	5	10
${\theta _t}$/(°)	15	20
${\phi _t}$/(°)	175	180

公式	参数	取值
观测器式（12）	${\lambda _1}$	2
	${\lambda _2}$	1.5
	${\lambda _3}$	1.1
	${L_1}$	2
	${L_2}$	2
制导律式（16）	${\alpha _1}$	0.1
	${\alpha _2}$	0.1
	$p$	3
	$q$	5
	${\beta _1}$	0.025
	${\beta _2}$	0.025
	${\gamma _1}$	1.5
	${\gamma _2}$	1
	${\mu _1}$	5
	${\mu _2}$	5

参数类型	名称	取值
位置	$R$/m	20 000
	${\theta _L}$/(°)	30
	${\phi _L}$/(°)	0
速度	$ {V_m} $/(m/s)	800
速度	$ {V_t} $/(m/s)	600
速度系	${\theta _m}$/(°)	10
	${\phi _m}$/(°)	10
	${\theta _t}$/(°)	20
	${\phi _t}$/(°)	180
加速度	$ {a_{ty}}$/(m/s²)	$ 30\cos t $
加速度	$ {a_{tz}} $/(m/s²)	$ 30\cos t $

公式	参数	取值
驾驶仪式（34）	${\xi _y}$	0.5
	${\xi _z}$	0.5
	${\omega _y}$	10
	${\omega _z}$	10
制导律式（40）	$ \varsigma $	0.7
	${\theta _1}$	1.3
	${\theta _2}$	0.1
	${\tau _1}$	0.7
	${\tau _2}$	0.7
	${\kappa _1}$	5
	${\kappa _2}$	10

Three-dimensional terminal angle constraint guidance law considering autopilot dynamic lag

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