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Observer-based guidance law Accounting for Second-order Dynamics of Missile Autopilots

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Journal of Harbin Institute of Technology(New Series) 2013年第1期20卷 17-22页

作者： Ping-Ping Qu Di Zhou Dept. of Control Science and Engineering Harbin Institute of Technology School of Electronics and Information Engineering Shenyang Aerospace University

Accounting for the missile autopilot as second-order dynamics, an observer-based guidance law is designed based on the dynamic surface control method. Some first-order low-pass filters are introduced into the design process to avoid the occurrence of high-order derivatives of the line of sight angle in the expression of guidance law such that it can be implemented in practical applications. The proposed guidance law is effective in compensating the bad influence of the autopilot lag on guidance accuracy. In the simulations of intercepting non maneuvering targets, targets with step acceleration, and targets with sinusoidal acceleration respectively, the guidance law is compared with the adaptive sliding mode guidance law in the presence of missile autopilot lag. The simulation results show that the proposed guidance law is able to guide a missile to accurately intercept a maneuvering target, even if it escapes in a great and fast maneuver and the autopilot has a relatively large lag.

关键词： missile guidance law dynamic surface control autopilot observer

Design of Guided Air Ammunition's Optimal guidance law

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Journal of Beijing Institute of Technology 2005年第4期14卷 396-399页

作者：刘敏刘藻珍王保成 School of Mechatronic Engineering Beijing Institute of Technology Beijing100081 China

Some long distance air ammunition can be used to attack large still target. According to this character and according to the mathematical description of target-missile relative motion built by the message supplied by the strapdown inertial navigation system/global position system （SINS/GPS） of air ammunition, optimal guidance law is designed by applying optimal control theory. The simulation is provided to indicate that when the air ammunition reaches the target, its line-of-sight （LOS） and LOS angular rate can nearly equal zero. So the air ammunition can get good terminal attitude, and the air ammunition reaches the target at the expected velocity and heading.

关键词： air ammunition guidance law optimal control

guidance law Design Under Impact Angle Constraint Based on Nussbaum-type Gain Technique

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Defence Technology（防务技术） 2010年第4期6卷 253-257页

作者：郭建国周军 Institute of Precision guidance and Control Northwestern Polytechnical University

Aiming at the guidance problem under impact angle constraint for homing missile against ground targets,a new adaptive robust nonlinear terminal guidance law was proposed in this paper.According to nonlinear kinetic relationship between the missile and target in vertical plane,a mathematic model was formulated while the motion of target and the system structure perturbation were regarded as limited disturbances.Based on the ideas of zeroing the rate of line-of-sight(LOS)angle and the impact angular tracking error,a nonlinear control strategy was contrived to obtain adaptive robust guidance law by adopting Nussbaum-type gain technique under a desired impact angle.The stability of guidance system in finite time is strictly proven by using Lyapunov stability theory.Finally,the numerical simulation verifies the effectiveness of the proposed scheme.

关键词： control and navigation technology of aerocraft stability guidance law impact angle adaptive control

guidance law Accounting for Second-order Dynamics of Missile Autopilot and Impact Angle Constraints

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Guidance Law Accounting for Second-order Dynamics of Missile...

第26届中国控制与决策会议

作者： WU Liang WANG Weihong XIONG Shaofeng School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781479937066

In this paper, a planar guidance law accounting for second-order dynamics of missile autopilot and impact angle constraints is designed using backstepping method and nonsingular terminal sliding mode control（NTSM）. Nonsingular terminal sliding mode was employed to drive the line of sight（LOS） angle to a desired impact angle in finite time without singularity. In backstepping design, some first-order low-pass filters are introduced to avoid the occurrence of high-order derivatives of LOS angular rate in the expression of guidance law. Using the Lyapunov stability theorem, it is proved that all signals in the closed loop system are ultimately bounded. Simulations of intercepting constant-acceleration maneuvering targets and targets with sinusoidal acceleration show that the guidance law still ensures the impact angle constraints and is able to compensate the autopilot lag.

关键词： guidance law Second-order Dynamics Nonsingular Terminal Sliding Mode Backstepping method Impact Angle Constraints

guidance law Design with Attack Angle Control and Maneuvering Avoidance

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Guidance Law Design with Attack Angle Control and Maneuverin...

作者： Zuo-e FAN Yong-fang NIE Shuang PAN Department of Strategic Missile and Underwater Weapon Navy Submarine Academy

In order to realize the tactical task of anti-ship missile attacking target in the predetermined direction, and improve its penetration effect under the condition of enemy ship-to-air missile interception, a guidance law with attack angle control and maneuvering avoidance is designed. Using the terminal sliding mode theory, based on the relative motion model between missile and target, the guidance law defined a sliding surface, which includes miss distance requirement, terminal angle constraint and terminal maneuvering information. The guidance law can attack the target in the predetermined direction and realize its own trajectory maneuvering penetration. The simulation results verify the validity of the designed method.

关键词： guidance law Terminal Attack Angle Control Maneuvering Avoidance

Design and simulation of an optimal guidance law for ship-air missile based on interception point prediction

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Design and simulation of an optimal guidance law for ship-ai...

2011 Chinese Control and Decision Conference（CCDC）

作者： Zhao Yong-tao is with the Naval Aeronautical and Astronautical University,Yantai,China.He is now with Department of Control Engineering.HU Yun-an is with the Naval Aeronautical and Astronautical University,Yantai,China.He is now with Department of Control Engineering.Zhan You-an is with the Naval Aeronautical and Astronautical University,Yantai,China.He is now with Department of Control Engineering.

For the case of ship-air missile intercepting the low target beyond visual range by ship-ship coordination,the instruction solution model was presented and an optimal guidance law was designed considering the effect of the curvature of the earth.In the midcourse and terminal guidance segment,applying the concept of the pseudo control variable and the theory of the linear quadratic optimal control,the optimal guidance law was designed based on interception point prediction.The information of the target was described in the launch coordinates through coordinate transformation to realize the instruction solution for the designed guidance law.The simulation results show that the model of the instruction solution is correct and the designed guidance law is feasible.

关键词： collaborative guidance interception point ship-air missile guidance law instruction solution

A Finite Time Convergent guidance law Considering Thrust Constraint and Second-order Dynamics

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A Finite Time Convergent Guidance Law Considering Thrust Con...

第36届中国控制会议

作者： Mei-jun Duan Di Zhou Department of Control Science and Engineering Harbin Institute of Technology

ISBN: (纸本)9781538629185

A finitetime convergent sliding-mode guidance law with hysteresis switching is proposed for the guidance considering thrust constraint and second-order dynamics of divert thruster.Firstly,the mathematical model of relative movement considering the second-order dynamic delay of engine is set up accordingto the planar relative motion of missile and target.Secondly,based on the principle of nullifying the line of sight angular velocity and the theory of finite time convergence,the finite time convergence condition andproperties of the sliding-mode guidance law underthrust constraint is given.Furthermore the convergence condition is expanded to consider the second-order dynamics of divert thruster.Finally the hysteresis switching based on finite time convergence condition is employed to eliminate the chattering Simulation results show the guidance law can guarantee that the line of sight angularrate converges to zero in finite time and keeps within the hysteresis threshold,have better guidance accuracy and robustness against high speed maneuvering target.

关键词： guidance law Finite Time Convergence Thrust Constraint Second-order Dynamics Hysteresis Switching

Hierarchical reinforcement learning guidance with threat avoidance

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Journal of Systems Engineering and Electronics 2022年第5期33卷 1173-1185页

作者： LI Bohao WU Yunjie LI Guofei State Key Laboratory of Virtual Reality Technology and System Beihang UniversityBeijing 100191China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft Control Laboratory Beijing 100191China School of Astronautics Northwestern Polytechnical UniversityXi’an 710072China

The guidance strategy is an extremely critical factor in determining the striking effect of the missile operation.A novel guidance law is presented by exploiting the deep reinforcement learning(DRL)with the hierarchical deep deterministic policy gradient(DDPG)algorithm.The reward functions are constructed to minimize the line-of-sight(LOS)angle rate and avoid the threat caused by the opposed obstacles.To attenuate the chattering of the acceleration,a hierarchical reinforcement learning structure and an improved reward function with action penalty are put forward.The simulation results validate that the missile under the proposed method can hit the target successfully and keep away from the threatened areas effectively.

关键词： guidance law deep reinforcement learning(DRL) threat avoidance hierarchical reinforcement learning

Time-optimal guidance for intercepting moving targets with impact-angle constraints

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Chinese Journal of Aeronautics 2022年第7期35卷 157-167页

作者： Yuan ZHENG Zheng CHEN Xueming SHAO Wenjie ZHAO School of Aeronautics and Astronautics Zhejiang UniversityHangzhou 310027China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper.The candidate paths from Pontryagin’s maximum principle are synthesized,so that each candidate is related to a zero of a real-valued function.It is found that the real-valued functions or their first-order derivatives can be converted to polynomials of at most fourth degree.As a result,each candidate path can be computed within a constant time by embedding a standard polynomial solver into the typical bisection method.The control strategy along the shortest candidate eventually gives rise to the time-optimal guidance law.Finally,the developments of the paper are illustrated and verified by three numerical examples.

关键词： Dubins vehicle guidance law Minimum-time path Optimal guidance Path planning