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Chinese Journal of Aeronautics 2022年第6期35卷 226-239页

作者： Guanlin LI Ming YANG Songyan WANG Tao CHAO Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China

This paper deals with the problem of Guidance law design for the single moving mass controlled reentry vehicle when impact angle constraints and maneuvering target are taken into consideration.More specifically,a modified rolling Guidance law is proposed with the interactive virtual target and the landing point prediction strategy.First,considering the fact that the roll channel can be controlled directly,the relative motion between the single moving mass controlled reentry vehicle and the target is described by the error angle between the relative velocity and the line-ofsight.Second,a nonlinear error angle command is given to reduce the rotation rate.To satisfy impact angle constraints,an interactive virtual target is presented and the‘‘S”formed velocity of the virtual target is given to abate the error angle tracking difficulty at the final stage of the reentry phase.Then,the landing point prediction strategy is employed and the motion variation trend is also taken into consideration.As the maneuvering target is replaced with the predicted landing point,the error angle tracking difficulty caused by the target velocity decreases,which is helpful to meet impact angle constraints and improve guidance accuracy at the same time.Finally,the finite-time rolling Guidance law is proposed and proved via Lyapunov stability theorem.Compared with the existing method,lower-speed rotation,smaller missing distance and less impact angle errors are obtained,which can be demonstrated by numerical simulations.

关键词： Reentry vehicles Guidance law Impact angle Maneuvering target Finite-time convergence

Three-dimensional time-varying sliding mode Guidance law against maneuvering targets with terminal angle constraint

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Chinese Journal of Aeronautics 2022年第4期35卷 303-319页

作者： Xinxin WANG Hongqian LU Xianlin HUANG Yefeng YANG Zongyu ZUO Center for Control Theory and guidance Technology Harbin Institute of TechnologyHarbin 150001China The Seventh Research Division Beihang UniversityBeijing 100191China

This paper deals with the problem of intercepting maneuvering targets with terminal angle constraints for missiles subjected to three-dimensional non-decoupling engagement geometry.To achieve the finite-time interception and satisfactory overload characteristics, a time varying sliding mode control methodology is developed based on a time base generator function. The main feature of the proposed Guidance law guarantees the Line-of-Sight(LOS) angles to converge to small neighborhoods of the desired values at the interception time. First, a fractional power extended state observer is used to estimate the unknown target acceleration, which can significantly reduce the adaptive switching gain. The fractional power extended state observer enjoys the advantage of better noise tolerance. Then, a newly designed sliding mode surface is constructed by introducing a time base generator function and the time-varying sliding mode Guidance law is developed based on this time-varying sliding surface. The proposed Guidance law significantly reduces the overload magnitudes. Numerical simulations are carried out to verify the performance of the proposed Guidance law.

关键词： Guidance law Maneuvering target Terminal angle constraint Three-dimensional Time-varying sliding mode

Three-dimensional cooperative guidance strategy and Guidance law for intercepting highly maneuvering target

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Chinese Journal of Aeronautics 2021年第5期34卷 485-495页

作者： Ziyan CHEN Jianglong YU Xiwang DONG Zhang REN School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang UniversityBeijing 100191China Beijing Advanced Innovation Center for Big Data cmd Brain Computing Beihang UniversityBeijing 100191China

Cooperative interception of the target with strong maneuverability by multiple missiles with weak maneuverability in the three-dimensional nonlinear model is studied.Firstly,the three-dimensional nonlinear model of cooperative guidance is established.The three-dimensional reachable region is represented composed of lateral acceleration and longitudinal acceleration in the two-dimensional coordinate system.Secondly,the problem of the multiple missile’s reachable coverage area is transformed into the problem of cooperative coverage.A cooperative coverage strategy is proposed and an algorithm for quickly calculating the number of required missiles is designed.Then,the Guidance law based on the cooperative coverage strategy is proposed,and it is proved that cooperative interception of the target can be achieved under the acceleration limit.Moreover,the relations among the number of missiles,the initial array position of terminal guidance and the coverage area of the target’s large maneuver are analyzed.The dynamic adjustment strategy of guidance parameters is proposed to reduce the guidance error.Finally,simulation results show that multiple missiles with low maneuverability can achieve effective interception of target with strong maneuverability through the proposed cooperative strategy and cooperative guidance method.

关键词： Acceleration constraint Cooperative interception Coverage strategy Guidance law Highly maneuvering target

Sliding mode control and Lyapunov based Guidance law with impact time constraints

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Journal of Systems Engineering and Electronics 2017年第6期28卷 1186-1192页

作者： Xiaojian Zhang Mingyong Liu Yang Li School of Marine Science and Technology Northwestern Polytechnical University Xi’an 710021 China

This paper analyses the issue of impact time control of super-cavitation weapons impact fixed targets which mainly refer to the ships or submarines who lost power, but still have combat capability. Control over impact time constraints of Guidance law(ITCG) is derived by using sliding mode control(SMC) and Lyapunov stability theorem. The expected impact time is realized by using the notion of attack process and estimated time-to-go to design sliding mode surface(SMS). ITCG contains equivalent and discontinuous Guidance laws, once state variables arrive at SMS,the equivalent Guidance law keeps the state variables on SMS,then the discontinuous Guidance law enforces state variables to move and reach SMS. The singularity problem of ITCG is also analyzed. Theoretical analysis and numerical simulation results are given to test the effectiveness of ITCG designed in this paper.

关键词： Lyapunov stability sliding mode control impact time salvo attack time-to-go Guidance law

Impact angle control over composite Guidance law based on feedback linearization and finite time control

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Journal of Systems Engineering and Electronics 2018年第5期29卷 1036-1045页

作者： ZHANG Xiaojian LIU Mingyong LI Yang ZHANG Feihu School of Marine Science and Technology Northwestern Polytechnical University

The impact angle control over guidance(IACG) law against stationary targets is proposed by using feedback linearization control(FLC) and finite time control(FTC). First, this paper transforms the kinematics equation of guidance systems into the feedbackable linearization model, in which the Guidance law is obtained without considering the impact angle via FLC. For the purpose of the line of sight(LOS) angle and its rate converging to the desired values, the second-order LOS angle is considered as a double-integral system. Then, this paper utilizes FTC to design a controller which can guarantee the states of the double-integral system converging to the desired values. Numerical simulation illustrates the performance of the IACG, in contrast to the existing Guidance law.

关键词： Guidance law impact angle feedback linearization finite time control global stabilization

A finite-time 3D Guidance law based on fixed-time convergence disturbance observer

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Chinese Journal of Aeronautics 2020年第4期33卷 1299-1310页

作者： Feng YANG Guangqing XIA State Key Laboratory of Structural Analysis for Industrial Equipment Dalian University of TechnologyDalian 116024China Key Laboratory of Advanced Technology for Aerospace Vehicles of Liaoning Province Dalian University of TechnologyDalian 116024China School of Aeronautics and Astronautics Dalian University of TechnologyDalian 116024China

In order to achieve accurate interception of high-speed maneuvering targets,this paper presents a relative Line-of-Sight(LOS)velocity based finite-time three-dimensional Guidance law design framework,and discusses the application of fixed-time convergence disturbance observer in this framework.Firstly,a simple Lyapunov function is provided to show that the coupled terms in the relative kinematics can be ignored in the proposed Guidance law design framework.Secondly,the realizations of several classical Guidance laws are analyzed with the proposed framework,including TPN Guidance law,finite-time Input-to-State Stability(ISS)Guidance law,and sliding mode Guidance law.Thirdly,fixed-time convergence disturbance observers are introduced to design the composite finite-time 3D Guidance law,and Lyapunov method is employed to show the stability of the guidance system.Numerical simulations with different scenarios show that the proposed generalized Guidance law performs high interception accuracy.

关键词： Disturbance Finite-time stability Fixed-time stability Guidance law Observer

A Guidance law for UAV autonomous aerial refueling based on the iterative computation method

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Chinese Journal of Aeronautics 2014年第4期27卷 875-883页

作者： Luo Delin Xie Rongzeng Duan Haibin Department of Automation Xiamen University State Key Laboratory of Virtual Reality Technology and Systems Beihang University

The rendezvous and formation problem is a significant part for the unmanned aerial vehicle（UAV） autonomous aerial refueling（AAR） technique. It can be divided into two major phases： the long-range guidance phase and the formation phase. In this paper, an iterative computation Guidance law（ICGL） is proposed to compute a series of state variables to get the solution of a control variable for a UAV conducting rendezvous with a tanker in AAR. The proposed method can make the control variable converge to zero when the tanker and the UAV receiver come to a formation flight eventually. For the long-range guidance phase, the ICGL divides it into two sub-phases： the correction sub-phase and the guidance sub-phase. The two sub-phases share the same iterative process. As for the formation phase, a velocity coordinate system is created by which control accelerations are designed to make the speed of the UAV consistent with that of the tanker.The simulation results demonstrate that the proposed ICGL is effective and robust against wind disturbance.

关键词： Autonomous aerial refueling Aerial rendezvous Formation control Guidance law Unmanned aerial vehicle

Trajectory shaping Guidance law based on virtual angle with terminal constraints

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Journal of Systems Engineering and Electronics 2013年第6期24卷 992-1002页

作者： Xijing Hu Xuemei Huang Beijing Institute of Control and Electronic Technology Science and Technology on Information Systems Engineering Laboratory

A trajectory shaping Guidance law based on virtua angle （TSGLBVA） is proposed for a re-entry vehicle with the constraints of terminal impact angles and their time derivatives. In the view of differential properties of the maneuvering trajectory, a virtual angle and a virtual radius are defined. Also, the shaping trajectory of the vehicle is established by the polynomials of the virtual angle. Then, four optimized parameters are selected according to the theorem of parameters transformation presented in this paper. Finally, a convergent variant of the Nelder-Mead algorithm is adopted to obtain the reference trajectory, and a trajectory feedback tracking Guidance law is designed. The simulation results demonstrate that the TSGLBVA ensures the re-entry vehicle to impact a target precisely from a specified direction with smal terminal load factor command, as well as to obtain a maximum or constrained terminal velocity according to various requirements.

关键词： re-entry Guidance law trajectory shaping virtual angle terminal constraint impact angle

Finite Time Convergent Wavelet Neural Network Sliding Mode Control Guidance law with Impact Angle Constraint

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International Journal of Automation and computing 2015年第6期12卷 588-599页

作者： Qing-Chun Li Wen-Sheng Zhang Gang Han Ying-Hua Zhang Institute of Automation Chinese Academy of Sciences

This paper presents a novel Guidance law to intercept non-maneuvering targets with impact angle and lateral acceleration command constraints. Firstly, we formulate the impact angle control to track the desired line-of-sight(LOS) angle, which is achieved by selecting the missile s lateral acceleration to enforce the sliding mode on a sliding surface at impact time. Secondly, we use the Lyapunov stability theory to prove the stability and finite time convergence of the proposed nonlinear sliding surface. Thirdly, we introduce the wavelet neural network(WNN) to adaptively update the additional control command and reduce the high-frequency chattering of sliding mode control(SMC). The proposed Guidance law, denoted WNNSMC Guidance law with impact angle constraint,combines the SMC methodology with WNN to improve the robustness and reduce the chattering of the system. Finally, numerical simulations are performed to demonstrate the validity and effectiveness of the WNNSMC Guidance law.

关键词： Guidance law sliding mode control wavelet neural n

A hybrid Guidance law of LOS acceleration feedback for missile against maneuvering targets

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Journal of Control and Decision 2017年第3期4卷 168-178页

作者： Xiangbin Liu Xiaoli Qu School of electronic information engineering Beijing Jiaotong universityBeijingChina Electrical engineering College Henan science and technology of universityluoyangChina

A quantised backstepping robust Guidance law of three-dimension(3-D)space for compound control of reaction control jets and aerodynamic surfaces is proposed to attenuate the unknown target manoeuvre in this paper.The presented Guidance law guarantees that the rates of line of sight converge to a residual circle centred at the origin whose radius is depended on the target manoeuvres,quantised length and Guidance law gains.The simulations are given to illustrate the effectiveness of the proposed Guidance law.

关键词： Guidance law target manoeuvre compound control reaction trust and aerodynamic surface missile interception