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Three-dimensional cooperative guidance law for multiple missiles with impact angle constraint

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Journal of Systems Engineering and Electronics 2020年第6期31卷 1286-1296页

作者： YANG Biao JING Wuxing gao changsheng School of Astronautics Harbin Institute of TechnologyHarbin 150001China

This paper proposes a cooperative guidance law for attacking a ground target with the impact angle constraint based on the motion camouflage strategy in the line-of-sight(LOS)frame.A dynamic model with the impact angle constraint is established according to the relative motion between multiple missiles and the *** process of cooperative guidance law design is divided into two ***,based on the undirected graph theory,a new finite-time consensus protocol on the LOS direction is derived to guarantee relative distances reach *** the value of acceleration command is positive,which is beneficial for engineering ***,the acceleration command on the normal direction of the LOS is designed based on motion camouflage and finite-time convergence,which can ensure the missiles reach the target with the desired angle and satisfy the motion camouflage *** finitetime stability analysis is proved by the Lyapunov *** simulations for stationary and maneuver targets have demonstrated the effectiveness of the cooperative guidance law proposed.

关键词： cooperative guidance law motion camouflage impact angle constraint finite-time

Optimization of projectile state and trajectory of reentry body considering attainment of carrying aircraft

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Journal of Systems Engineering and Electronics 2017年第1期28卷 137-144页

作者： changsheng gao Chunwang Jiang Wuxing Jing School of Astronautics Harbin Institute of TechnologyHarbin 150001China

As an improvement of traditional maximum range trajectory optimization, both the projectile state and control sequence of reentry body are optimized to achieve the maximum range. To ensure the optimal projectile state is in the reachable domain of the carrying aircraft, the climb of the carrying aircraft and the flight of reentry body are optimized as a whole based on the hp-adaptive pseudospectral method. Meanwhile, the path constraints, control constraints and initial/terminal states constraints are considered in the optimization as well. In face of the fact that the range of the optimal control solution resulted from the pseudospectral method may be unsmooth, virtual control variables (second derivatives of the angle of attack and bank angle) are proposed in the optimization, while the angle of attack and bank angle are treated as the virtual state variables to guarantee the smoothness of the optimal control solution. The validity of the virtual control variables in smoothing the optimal control solution is verified by simulation, and the optimality of the resulting projectile state and control sequence for reaching the maximum range is confirmed using the indirect approach. © 1990-2011 Beijing Institute of Aerospace Information.

关键词： Aerodynamics Angle of attack Optimal control systems Projectiles

Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer

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Defence Technology（防务技术） 2024年第2期32卷 412-429页

作者： Wenxue Chen Yudong Hu changsheng gao Ruoming An School of Astronautics Harbin Institute of TechnologyHarbin 150001China

This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost ***,the velocity control in such trajectory tracking guidance systems of missiles is *** our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking *** global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional ***,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid ***,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify *** obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.

关键词： BP network neural Integral sliding mode control(ISMC) Missile defense Prescribed performance function(PPF) State observer Tracking guidance system

Recorded recurrent deep reinforcement learning guidance laws for intercepting endoatmospheric maneuvering missiles

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Defence Technology（防务技术） 2024年第1期31卷 457-470页

作者： Xiaoqi Qiu Peng Lai changsheng gao Wuxing Jing Department of Aerospace Engineering Harbin Institute of TechnologyHarbin150001China Shanghai Electro-Mechanical Engineering Institute Shanghai Academy of Spaceflight TechnologyShanghai201100China

This work proposes a recorded recurrent twin delayed deep deterministic(RRTD3)policy gradient algorithm to solve the challenge of constructing guidance laws for intercepting endoatmospheric maneuvering missiles with uncertainties and observation *** attack-defense engagement scenario is modeled as a partially observable Markov decision process(POMDP).Given the benefits of recurrent neural networks(RNNs)in processing sequence information,an RNN layer is incorporated into the agent’s policy network to alleviate the bottleneck of traditional deep reinforcement learning methods while dealing with *** measurements from the interceptor’s seeker during each guidance cycle are combined into one sequence as the input to the policy network since the detection frequency of an interceptor is usually higher than its guidance *** training,the hidden states of the RNN layer in the policy network are recorded to overcome the partially observable problem that this RNN layer causes inside the *** training curves show that the proposed RRTD3 successfully enhances data efficiency,training speed,and training *** test results confirm the advantages of the RRTD3-based guidance laws over some conventional guidance laws.

关键词： Endoatmospheric interception Missile guidance Reinforcement learning Markov decision process Recurrent neural networks

Autonomous navigation to quasi-periodic orbits near translunar libration points

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Chinese Journal of Aeronautics 2013年第5期26卷 1259-1268页

作者： Jing Wuxing Qian Yingjing gao changsheng Li Jianqing Department of Aerospace Engineering Harbin Institute of Technology

Libration-point missions have been very useful and successful. Due to the unstable natures of most of these orbits, the long-time stationkeeping demands frequent maneuvers and precise orbit determinations. Earth-based tracking will have to undertake much more responsibilities with the increasing number of libration missions. An autonomous navigation system could offer a better way to decrease the need for Earth-based tracking. Nevertheless, when an autonomous navigation system is applied, there are three important factors affecting autonomous navigation accuracy, i.e., the accuracy of initial conditions, the accuracy of measurements, and the accuracy of onboard dynamics for propagation. This paper focuses on analyzing the influence from the third factor and finding an appropriate navigation dynamics, which can satisfy the requirement of estimation accuracy but not cause too much burden for onboard computation. When considering the restricted three-body model and the bicircular restricted four-body model as navigation dynamics, the astrin- gency is not shown during the simulations. Meanwhile, when considering the influences of the Sun＇s direct and indirect perturbations and the eccentricity of the Moon＇s orbit, a new navigation dynamic model with the standard ephemerides is proposed. The simulation shows the feasibility of the proposed model.

关键词： Autonomous navigation Extended Kalman filters Libration points Multi-body dynamics Quasi-periodic orbit

A novel adaptive lateral reentry guidance algorithm with complex distributed no-fly zones constraints

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Chinese Journal of Aeronautics 2022年第7期35卷 128-143页

作者： Yudong HU changsheng gao Junlong LI Wuxing JING Wenxue CHEN School of Astronautics Harbin Institute of TechnologyHarbin 150001China Beijing Institute of Electronic System Engineering China Aerospace Science and Industry CorporationBeijing 100854China

Aimed at complex distributed no-fly zones avoidance problems,a novel adaptive lateral reentry guidance algorithm is ***,by introducing the improved attractive and repulsive potential fields,an improved artificial potential field method is *** with the proposed judgment criterion for whether a no-fly zone has been avoided,the proposed improved artificial potential field method effectively solves the reference heading angle determination problem under the constraints of complex distributed no-fly ***,based on the proposed no-fly zone’s threat quantitative evaluation method and the reference heading angle determined by the proposed improved artificial potential field method,the heading corridor is improved to increase its sensitivity to the threat changes of the no-fly ***,for satisfying the requirements of complex distributed no-fly zones avoidance,a novel guidance logic via improved heading corridor is proposed to update the reference heading corridor adaptively in real time according to the threat and constraint changes of the no-fly zones,and the bank reversal logic is employed to control the lateral *** simulation results for nominal and dispersed cases indicate that the proposed guidance algorithm has high robustness,stability,and applicability,and is feasible and effective to deal with the complex distributed no-fly zones avoidance problems.

关键词： Guidance strategy Heading corridor Hypersonic vehicles Improved artificial potential field Lateral reentry guidance Threat quantitative evaluation

Parametric modeling of hypersonic ballistic data based on time varying auto-regressive model

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Science China(Technological Sciences) 2020年第8期63卷 1396-1405页

作者： HU YuDong LI JunLong ZHANG Zhao JING WuXing gao changsheng Department of Aerospace Engineering Harbin Institute of TechnologyHarbin 150001China China Aerospace Science and Industry Corporation Beijing 100854China

For describing target motion in hypersonic vehicle defense,a parametric analyzing and modeling method on ballistic data is proposed based on time varying auto-regressive *** data are regarded as non-stationary random signal,where the hidden internal law is ***,ballistic data are decomposed into smooth linear trend signal and non-stationary periodic skip signal with ensemble empirical mode decomposition method to avoid mutual interference between different modal ***,the linear trend signal and the periodic skip signal are modeled *** linear trend signal is approximated by power function regressive estimator and the periodic skip signal is modeled based on time varying auto-regressive *** order to determine optimal model orders,a novel method is presented based on information theoretic criteria and the criteria of minimizing the mean absolute ***,the consistency test is conducted by investigating the time-frequency spectrum characteristics and statistical properties of outputs of the parametric model established above and dynamics model under the same initial *** results demonstrate that the parametric model established by the proposed method shares a high consistency with the original dynamics model.

关键词： hypersonic vehicle parametric modeling ballistic data decomposition time varying auto-regressive periods drift

Attitude Control for Spacecraft with Swinging Large-scale Payload

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Chinese Journal of Aeronautics 2011年第3期24卷 309-317页

作者： JING Wuxing XIA Xiwang gao changsheng WEI Wenshu Department of Aerospace Engineering Harbin Institute of Technology Harbin 150001 China

The primary sensor of astronomy observation satellite （AOS） is mounted on a gimbal base which connects directly with the satellite platform and has two degrees of freedom. Attitude control for AOS with a swinging sensor will be highlighted in this paper. Due to the non-negligible mass and length of the sensor, the internal motion between the satellite and the sensor will change the attitude, the position of center of mass and moment of inertia of the SYSTEM （consists of the satellite and the sen- sor）. According to moment of momentum theorem, a rigid two-body dynamic model is derived, which can he used to determine the inertial tensor of the SYSTEM. Modulating the satellite＇s present and desired quaternions results in quasi-Euler angles and normalizing these resultant parameters can ensure that the channel corresponding to each quasi-Euler angle is in the charge of each component of the control torque. Based on the normalized quasi-Euler angles, a switching attitude control law is proposed. With the control law, the corresponding phase trajectory will slide along the switching surface to the origin （corresponding to the desired states）. Simulation results show that the satellite can be controlled perfectly by thrusters with the proposed control law, even in the case of structural asymmetry and serious coupling between the control channels.

关键词： rigid two-body relative motion modeling attitude control quasi-Euler angle switching control law

考虑滑块动态特性的变质心四旋翼无人机双回路控制

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北京航空航天大学学报 2024年第3期50卷 861-873页

作者：杜青峰荆武兴高长生安若铭哈尔滨工业大学航天学院哈尔滨150001

针对滑块动态特性引入的附加干扰力矩造成系统姿态抖动强烈的问题,开展变质心四旋翼无人机滑块参数设计与姿态/伺服双回路控制研究。通过建立双滑块变质心四旋翼无人机八自由度运动模型,明确了滑块的引入对系统的影响,给出了与滑块动态... 详细信息

针对滑块动态特性引入的附加干扰力矩造成系统姿态抖动强烈的问题,开展变质心四旋翼无人机滑块参数设计与姿态/伺服双回路控制研究。通过建立双滑块变质心四旋翼无人机八自由度运动模型,明确了滑块的引入对系统的影响,给出了与滑块动态特性相关的各项附加干扰力矩;分析并设计了滑块的安装位置、质量以及行程等参数,降低滑块对系统的耦合与干扰;最后以滑块驱动力作为控制量,设计了姿态/伺服双回路动态滑模控制器,同时利用非线性扰动观测器对复合扰动进行估计和补偿,并进行了仿真试验。仿真结果表明,在考虑滑块动态特性的情况下,所设计的控制器能够实现对变质心四旋翼无人机的姿态控制,并具有良好的抗干扰性能与鲁棒性。

关键词：变质心控制四旋翼无人机动态特性动态滑模双回路

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