| 引用本文: | 陈琦,王旭刚.非奇异快速终端滑模及动态面控制的轨迹跟踪制导律.[J].国防科技大学学报,2020,42(1):91-100.[点击复制] |
| CHEN Qi,WANG Xugang.Trajectory tracking using nonsingular fast terminal sliding mode control and dynamic surface control[J].Journal of National University of Defense Technology,2020,42(1):91-100[点击复制] |
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| 非奇异快速终端滑模及动态面控制的轨迹跟踪制导律 |
| 陈琦,王旭刚 |
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(南京理工大学 能源与动力工程学院, 江苏 南京 210094)
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| 摘要: |
| 针对飞行器跟踪预设轨迹的问题,提出非奇异快速终端滑模和角度约束的轨迹跟踪制导律。通过引入虚拟目标点,提出参考轨迹曲率半径的期望视线角约束条件,建立带有视线角约束并考虑自动驾驶仪动态特性的轨迹跟踪数学模型。为了保证在有限时间内跟踪预设轨迹并避免出现奇异问题,采用快速非奇异终端滑模和动态面控制方法进行制导律设计。推导出视线角误差和轨迹跟踪误差之间的数学关系,并利用Lyapunov稳定性准则证明轨迹跟踪误差最终有界任意小。与弹道成型轨迹跟踪制导律进行仿真对比,仿真结果表明所提出的制导律具有良好的跟踪性能及鲁棒性。 |
| 关键词: 非线性制导律 轨迹跟踪 视线角约束 有限时间收敛 非奇异终端滑模控制 角度约束 |
| DOI：10.11887/j.cn.202001013 |
| 投稿日期：2018-09-07 |
| 基金项目: |
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| Trajectory tracking using nonsingular fast terminal sliding mode control and dynamic surface control |
| CHEN Qi, WANG Xugang |
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(School of Energy and Power Engineering, Nanjing University of Science and Technology, Nanjing 210094, China)
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| Abstract: |
| Aiming at the problem of trajectory following for aerial vehicles, a nonsingular fast terminal sliding mode based trajectory following guidance law was developed. A trajectory following dynamic model with line-of-sight angle constraint considering the autopilot dynamics was established based on a virtual target moving along the desired trajectory. A desired line-of-sight angle was derived for the trajectory following problem. To follow the desired trajectory in finite time without singularity, the nonsingular fast terminal sliding mode control and the dynamic surface technique were used to design the guidance law. The mathematical relationship between the error of line-of-sight angle and the trajectory-following error was presented. The Lyapunov stability theorem was proved that the trajectory-following error was uniformly ultimately bounded. The proposed guidance law was compared with the trajectory shaping path following guidance law. The simulation results showed that the proposed guidance law provides better trajectory-following performance and has a better robustness. |
| Keywords: nonlinear guidance law trajectory following line-of-sight angle constraint finite time convergence nonsingular terminal sliding mode control angle constraint |
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